Toshiba TOSVERT VF-S15 series - Page 45

E6581911
- 44 -
1. NMT Boot-up (Drive power on)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x701
0
1
0
---
---
---
---
---
---
---
*1: If VF-AS3 is used, EMCY (Drive power on) is sent.
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x81
0
8
0
0
0
0
0
0
0
0
2. NMT Module Control (Change to Operational state)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x000
0
2
1
1
---
---
---
---
---
---
TxPDO1 (Send the response of the drive status and the output frequency)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x181
0
4
Status word
vl_velocity
_actual_value
---
---
---
---
0x50
0x02
0
0
3. RxPDO1 (Change to “Ready to switch on” state)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x201
0
4
Control word
vl_target_velocity
---
---
---
---
0x06
0x00
0x00
0x00
4. SYNC (Update RxPDO received data to control data)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x080
0
0
---
---
---
---
---
---
---
---
TxPDO1 (Send the response of the drive status and the output frequency)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x181
0
4
Status word
vl_velocity
_actual_value
---
---
---
---
0x31
0x02
0x00
0x00
5. RxPDO1 (Change “Switch on” state)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x201
0
4
Control word
vl_target_velocity
---
---
---
---
0x07
0x00
0x00
0x00
6. SYNC (Update RxPDO received data to control data)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x080
0
0
---
---
---
---
---
---
---
---
TxPDO1 (Send the response of the drive status and the output frequency)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x181
0
4
Status word
vl_velocity…
---
---
---
---
0x33
0x02
0x00
0x00
7. RxPDO1 (Change “Operation enable” state)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x201
0
4
Control word
vl_target_velocity
---
---
---
---
0x0f
0x00
0x00
0x00
8. SYNC (Update RxPDO received data to control data)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
←
0x080
0
0
---
---
---
---
---
---
---
---
TxPDO1 (Send the response of the drive status and the output frequency)
INV - PC
COB-ID
RTR
DLC
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
→
0x181
0
4
Status word
vl_velocity…
---
---
---
---
0x37
0x02
0x00
0x00