Nidec Unidrive M700 - Basic Speed and Torque Feedback

SI-Ethernet User Guide 173
Issue: 3
Safety
information
Introduction
Mechanical
installation
Electrical
installation
Getting started Parameters
Key features
and Protocols
PC Tools
Applications
Security Diagnostics
Glossary of
terms
Index
Speed feedback (SpeedActual)
The speed feedback word utilises 2 bytes (16 bits) as shown below.
For more information on the speed feedback see section 7-31 AC/DC Drive object attributes on
page 187.
Torque feedback (TorqueActual)
The torque feedback word utilises 2 bytes (16 bits) as shown below.
For more information on the torque feedback see section 7-31 AC/DC Drive object attributes on
page 187.
7.5.16 Extended speed and torque feedback
Input assembly object 0x49 (73
10
)
The PLC or scanner must be configured for 6 input bytes (or 3 input words) if this assembly object
is to be used.
Extended status word
The extended status word consists of 2 bytes (16 bits), with the bits having functions as shown
below.
The DriveState byte returns a code to indicate the operating state of the drive as shown in Table 7-
19.
b15 b14 b13 b12 b11 b10 b9 b8
SpeedActual (high byte)
b7 b6 b5 b4 b3 b2 b1 b0
SpeedActual (low byte)
b15 b14 b13 b12 b11 b10 b9 b8
TorqueActual (high byte)
b7 b6 b5 b4 b3 b2 b1 b0
TorqueActual (low byte)
Table 7-18 Basic speed and torque feedback
Data word Function
Word 0 Extended status word.
Word 1 Speed feedback (SpeedActual).
Word 2 Torque feedback (TorqueActual).
b15 b14 b13 b12 b11 b10 b9 b8
DriveState
b7 b6 b5 b4 b3 b2 b1 b0
At
Reference
RefFrom
Net
CtrlFrom
Net
Ready
Running2
(Rev)
Running1
(Fwd)
Warning Faulted