Inovance MD520 Series - Page 110

EtherCAT Communication
‑109‑
Data Sent by the Master (RPDO)
Table 6–3 Master transmit data RPDO
RPDO
Description
RPDO1
AC drive command word (command source set to communication,
that is, F0‑02 = 2)
● 1: Run in forward direction
● 2: Run in reverses direction
● 3: Jog in forward direction
● 4: Jog in reverse direction
● 5: Coast to stop
● 6: Stop according to the stop mode defined by F6‑10
● 7: Reset upon fault
RPDO2
AC drive target frequency (frequency source set to
communication), which ranges from the reverse frequency upper
limit (negative value) to forward frequency upper limit (decimal
places included, for example, 2000 corresponds to 20.00 Hz on the
AC drive). When the reference target frequency exceeds this range,
the AC drive runs at the frequency upper limit.
For example, if the frequency upper limit is set to 50.00 Hz and the
frequency reference set through communication is 6000, the AC
drive will run at 50.00 Hz in the forward direction. If the frequency
upper limit is set to 50.00 Hz and the frequency reference set
through communication is –6000, the AC drive will run at 50.00 Hz
in the reverse direction.
RPDO3 to RPDO12
Parameter values modified in real time, not written into EEPROM.
FE‑02 to FE‑09 correspond to RPDO3 to RPDO12. For details about
the configuration, see the PDO Data Configuration section.
Data Returned by the AC Drive (TPDO)
Table 6–4
TPDO
Description
TPDO1
AC drive running state
● Bit0: 0: Stopped; 1: Running
● Bit1: 0: Running in forward direction; 1:
Running in reverse direction
● Bit2: 0: Not faulty; 1: Faulty
● Bit3: 0: Running frequency not reached; 1:
Running frequency reached
● Bit4 to bit7: Reserved
● Bit8 to Bit15: AC drive fault code