Canopen Option Board Interface; Supported Drive Modes - Vacon OPTE6 User Manual

CANopen option board interface

8. CAN
OPEN OPTION BOARD INTERFACE
By default, the CANopen option board is configured to operate in Drive Profile mode. The drive pro-
file implementation is 'Velocity Mode' which is defined in CiA 402 specification with PDO set for the
AC drive. The board can also be configured into Manufacturer specific mode.
8.1

Supported drive modes

Drive modes can be selected by writing the desired mode in Modes of Operation (0x6060) object or
by selecting the mode from panel. The active mode of operation can be read from object Modes of
Operation Display (0x6061).
The supported drive modes object will return value 0x80000002, which is described in table below.
Bit(s) Description
Manufacturer specific Bypass
31
mode
30-2 Not supported
1 Velocity mode
0 Not supported
Value Mode name
2 Velocity Mode
-1 Bypass mode
Index Description
0x6060 Modes of Operation
0x6061 Modes of Operation Display
0x6502 Supported Drive Modes
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Table 71. Supported drive modes
Table 72. Drive modes
Description
The CiA 402 Drive Profile mode where the control
of the drive is done using a control word and
speed reference value as specified in the drive
profile specification.
In this mode, the Drive control can be done using
raw process data which is exchanged with drive
application. The drive profile state machine and
the related objects become invalid.
Table 73. Operating mode related objects
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