Communications vacon • 39
24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com
6
• 0 = Vendor-specific mode
• 1 = Open loop speed (Frequency)
• 2 = Closed loop speed control
• 3 = Torque control
• 4 = Process control (e.g. PI control)
•5 = Position control
The Vacon 100 drive supports the drive mode options 1 and 3. If mode 1 is written through the
EtherNet/IP interface, the motor control mode of the drive is to “Speed OL”. If mode 3 is written the
motor control mode of the drive is set to “Torque OL”. These changes shall be reflected in the
“Motor Control Mode Object”.
The drive will respond with “Invalid attribute value” status code 0x09, if other values are written.
Instance Attribute “SpeedActual”
The data type of this attribute is INT (16-bit). The Attribute Identifier of this attribute is 7
d
. This attri-
bute allows reading of the speed actual value. The unit of the attribute shall be (RPM / 2
SpeedScale
),
where SpeedScale is attribute 22.
If the SpeedScale attribute is not used by the master, then the default unit [1 RPM] is assumed. This
is equivalent to the value 0 being used for SpeedScale.
Instance Attribute “SpeedRef”
The data type of this attribute is INT (16-bit). The Attribute Identifier of this attribute is 8
d
. This attri-
bute allows reading and writing of the speed reference set point. The unit of the attribute shall be
(RPM / 2
SpeedScale
), where SpeedScale is attribute 22.
If the SpeedScale attribute is not used by the master, then the default unit [1 RPM] is assumed. This
is equivalent to the value 0 being used for SpeedScale.
Instance Attribute “TorqueActual”
The data type of this attribute is INT (16-bit). The Attribute Identifier of this attribute is 11
d
. This at-
tribute allows reading of the torque actual value. The unit of the attribute shall be (Nm / 2
TorqueScale
),
where TorqueScale is attribute 24.
If the TorqueScale attribute is not used by the master, then the default unit [1 Nm] is assumed. This
is equivalent to the value 0 being used for TorqueScale.
Instance Attribute “TorqueRef”
The data type of this attribute is INT (16-bit). The Attribute Identifier of this attribute is 12
d
. This at-
tribute allows reading and writing of the torque reference set point. The unit of the attribute shall
be (Nm / 2
TorqueScale
), where TorqueScale is attribute 24.
If the TorqueScale attribute is not used by the master, then the default unit [1 Nm] shall be
assumed. This is equivalent to the value 0 being used for TorqueScale.
Instance Attribute “SpeedScale”
The data type of this attribute is SINT (8-bit). The Attribute Identifier of this attribute is 22
d
. This at-
tribute allows reading and writing of the speed scaling factor. The SpeedActual and SpeedRef val-
ues are scaled according to the value of this attribute. The default value is 0
d
.
The largest allowed value for this attribute in the Vacon 100 drive is 7 (allowing resolution of 0.0078
RPM) and the minimum allowed value is -4 (allowing resolution of 16 RPM). The maximum speed
value that can be input/output to the Vacon 100 drive is thus ca 524000 RPM.
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