9.2 CANopen Communication
9-41
COMMUNICATION FUNCTIONS
Chap 9
1) If Start_Remote_Node service is received from, the inverter moves to Operational state (RUN LED lights up
in green) to enable the PDO communication. At the same time as the state change, the transmit PDO No.3
responds as follows:
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x381 28 10 00 00 00000000
2) In this case, S06=1 (FWD=1) as a running command and S05=50.00 Hz (=0x1388) as a frequency command
are transmitted.
Receive PDO
(from master to inverter)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x401 01 00 88 13 00000000
Thus, the inverter enters into a running state. The transmit PDO are as follows when the speed is reached:
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x381 21 10 88 13 00000000
3) To stop the inverter, transmit S06=0 (FWD=0).
Receive PDO
(from master to inverter)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x401 00 00 88 13 00000000
The FWD OFF command lets the inverter decelerate. After the stop, the transmit PDO responds as follows.
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x381 28 10 00 00 00000000
4) To run the inverter in reverse, transmit S06=2 (REV=1).
Receive PDO
(from master to inverter)
COB-ID
Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x401
02 00 88 13 00000000
Thus, the inverter enters into a reverse running state. The responses are as follows when the speed is
reached:
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3 Bytes 4 to 7
0x381 22 10 88 13 00000000
To Next Page
Loading...
