Nidec NE200 - Page 228

NE200/300 Series Drive User Manual
Appendix B: Adapted Encoder Instruction 219
Table D-1 CAN ID1 Transmitting and Receiving Format
Byte0
Bit0
：
R
unning signal
1
：
R
unning
0
：
S
topped
Bit1：Direction signal 1：REV 0：FWD
Bit2：Fault signal 1：Fault 0：Normal
Bit3~Bit7：Reserved
Byte1
F
req. Signal
：
R
ange
：
~20000~20000
Max. Freq. : 20000/Min. minus Freq. : -20000
Note： Byte1 high 8 byte，Byte2 low 8 byte
Byte2
Byte3
R
eal feedback rotary
speed
：
Range
：
~20000~20000
Max. Freq. : 20000/Min. minus Freq. : -20000
Note： Byte3 high 8 byte，Byte4 low 8 byte
Byte4
Byte5
G
iven signal of current
-
loop (Iq):
-
8192~8192
4096: Rated torque current related motor
（From speed-loop output signal）
Note： Byte5 high 8 byte，Byte6 low 8 byte
Byte6
Byte7
R
eserved
CAN ID2 transmitting data format as following Table D-2，this function
is to transmit the status info. of self.
Table D-2 CAN ID2 Transmitting data format
Byte0
Data
1
(Byte0 High 8 bytes，Byte1 low 8 bytes)
Byte1
Byte2
D
ata 2
(Byte2 High 8 bytes，Byte3 low 8 bytes)
Byte3
Byte4
D
ata 3
(Byte4 High 8 bytes，Byte5 low 8 bytes)
Byte5
Byte6
D
ata 4
(Byte6 High 8 bytes，Byte7 low 8 bytes)
Byte7