Toshiba TOSVERT VF-S15 series - SYNC Communication

E6581911
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8.2. SYNC communication
This is a sample communication using SYNC message.
Parameter
Function
Setting
Comments
cmod
Command mode selection
3 [VF-S15]
5 [VF-AS3]
Command from CANopen
fmod
Frequency setting mode selection
6 [VF-S15]
23 [VF-AS3]
Frequency from CANopen
c701
Node-ID
1
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
0x00000201
0x1400 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000200+Node-ID
c712
Low word
c713
RPDO transmission type
0x01
0x1400 subidx 02 Synchronous
c714
Transmit :COB-ID
High word
0x00000181
0x1800 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
0xFF
0x1800 subidx 02 Synchronous
c750
PDO1
Number of objects
0x02
0x1600 subidx 00 Receive PDO1 assignment:
Number of objects assigned
c751
Command 1
0x6040
0x1600 subidx 01 Command Index No.
0x6040: Controlword
c752
Command 2
0x6042
0x1600 subidx 02 Command Index No.
0x6042: vl target velocity
c755
Number of objects
0x02
0x1A00 subidx 00 Transmit PDO1
assignment: Number of objects assigned
c756
Monitor 1
0x6041
0x1A00 subidx 01 Monitor Index No.
0x6041: vl Statusword
c757
Monitor 2
0x6044
0x1A00 subidx 02 Monitor Index No.
0x6044: vl velocity actual value
Time
Inverter
PC
1
2
3
4
5
Operation
enable
Inverter
internal
Process
NMT
Boot-up
NMT
Module
Control
RxPDO1
Ready to
switch on
Ready to
switch on
RxPDO1
switch on
switch on
RxPDO1
Operation
enable
Communication between PC and Inverter
*1
TxPDO1
TxPDO1
TxPDO1
TxPDO1
Swich on
disabled
6
Drive is run.
RxPDO1
Setpoint
TxPDO1