Toshiba TOSVERT VF-MB1 Series - 7.2. SYNC communication

E6581692
- 39 -
7.2. SYNC communication
This is a sample communication using SYNC message.
Parameter Function
Factory
setting
Comments
cmod
Command mode selection 1
Command from CANopen Network
fmod
Frequency setting mode selection 0
Command from CANopen Network
c701
Node-ID 127
1 ~ 127
c702
Board rate
0: 20k 4: 500k
1: 50k 5: 800k
2: 125k 6: 1M
3: 250k
2
(125kbps)
CAN baud rate setting
c711
PDO1
Receive: COB-ID entry
High word
0x00000200
#1400 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000200+Node-
c712
Low word
c713
RPDO transmission type 0x01
#1400 subidx 02 Synchronous
c714
Transmit :COB-ID
High word
0x00000180
#1800 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000180+Node-ID
c715
Low word
c716
TPDO Transition type 0x01
#1800 subidx 02 Synchronous
c750
PDO1 Number of objects 0x02
#1600 subidx 00 Receive PDO1 assignment:
Number of objects assigned
c751
Command 1 0x6040
#1600 subidx 01 Command Index No.
0x6040: Controlword
c752
Command 2 0x6042
#1600 subidx 02 Command Index No.
0x6042: vl target velocity
c755
Number of objects 0x02
#1A00 subidx 00 Transmit PDO1
assignment: Number of objects assigned
c756
Monitor 1 0x6041
#1A00 subidx 01 Monitor Index No.
0x6041: vl Statusword
c757
Monitor 2 0x6044
#1A00 subidx 02 Monitor Index No.
0x6044: vl velocity actual value
1. NMT Boot-up (Inverter power on)
INV - PC COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
→
0x701 0 8 0
--- --- --- --- --- --- ---
2. NMT Modeule Control (Change to Operational state)
INV - PC COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
←
0x000 0 8 1 1
--- --- --- --- --- ---
3. NMT Node Guarding
INV - PC COB-ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7
→ 0x701 0 8
0x05
or
0x85
--- --- --- --- --- --- ---