Inovance EtherCAT MD800 - CiA402 Velocity Mode

11
INOVANCE TECHNOLOGY EUROPE GmbH
MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
Bit3: 0 running frequency is not up to standard, 1 running
frequency is reached
TPDO2
Index: 2070
SubIndex: 1
Data type: UINT
U0-68
Inverter operating frequency (unit: 0.01Hz) Returns the
actual operating frequency of the current inverter, the
returned data value is 16bit unsigned data
5.2 CIA402 VELOCITY MODE
With this mode it can define the speed and acceleration ramps through the objects of the CiA402.
The following table shows the necessary settings to work with the speed mode of the CiA402 standard. The
configuration is for a motor with these characteristics:
• Max speed 1500 RPM
• Acceleration from 0 to 1500 RPM in 2.5 seconds
• Deceleration from 1500 to 0 RPM in 5 seconds
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Unit
Value
FD-11
CANopen402 protocol
1 [Enabled]
F0-19
Acceleration/Deceleration time
unit
1 [0.1s]
F0-25
Acceleration/Deceleration time
base frequency
0 [F0-10 (maximum frequency)]
F8-64
7310H address data unit
1 [Speed (rpm)]
6060
00
Modes of operation
-
2 [velocity mode]
6042
00
vl target velocity
RPM
606C
00
Velocity actual value
RPM
6077
00
Torque actual value
%
6046
01
F0-14
vl velocity min amount
0
02
F0-10
vl velocity max amount
RPM
1500
6048
01
F0-17
vl velocity acceleration. Delta
Speed
0.1
RPM
15000
02
vl velocity acceleration. Delta
Time
0.1s
25
6049
01
F0-18
vl velocity acceleration. Delta
Speed
0.1
RPM
15000
02
vl velocity acceleration. Delta
Time
0.1s
50
NOTE See section 6.4.1 for more information on this mode.