Description Of The Objects For Drives - WEG CFW-11 Communications Manual

6 Description of the Objects for Drives

The objects that are common for drives, defined by the CANopen specification in the CiA DSP 402 document, are
described in this section. Regardless of the drive manufacturer, the objects mentioned here have a similar
description and operation. This makes it easier the interaction and the interchangeability between different devices.
The Figure 6.1 shows a diagram with the logic architecture and the operation of a drive through the CANopen
network, with the different operation modes defined in this specification. Each operation mode has a set of objects
that allows the configuration and operation of the drive in the network.
Figure 6.1 - Communication architecture for a drive in the CANopen network
For the CFW-11, only the
CFW-11, divided according to the different operation modes of the inverter.
Index Object
6040h VAR
6041h VAR
6060h VAR
6061h VAR
6042h VAR
6043h VAR
6044h VAR
6046h ARRAY
6048h RECORD
6049h RECORD
6063h VAR
Every time an object of that list is read or written, the CFW-11 will map its functions in the inverter parameters.
Thus, by operating the system through these objects, the value of the parameters can be changed according to the
CAN network
Application layer and communication profile DS 301
Drive Profile DSP 402
Modes of Operation
Profile
Homing
polated
Position
Mode
Position
Mode
Velocity Mode
is supported. The Table 6.1 presents the list of the available objects for the
Table 6.1 - CFW-11 object list – Drive Profile
Name
Controlword
Statusword
Modes of Operation
Modes of Operation Display
vl target velocity
vl velocity demand
vl control effort
vl velocity min max amount
vl velocity acceleration
vl velocity deceleration
Position Control Function
Position actual value*
CAN node
Device Control
Inter-
Profile Profile
Position Torque
Mode Mode
Mode
Motor
Device Control
UNSIGNED16
UNSIGNED16
INTEGER8
INTEGER8
Velocity Mode
INTEGER16
INTEGER16
INTEGER16
UNSIGNED32
vl vel. accel. decl. record
vl vel. accel. decl. record
INTEGER32
Velocity
Mode
Type Access
rw
ro
rw
ro
rw
ro
ro
rw
rw
rw
Ro
Mappable
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes