Invertek Compact 2 Series User Manual page 44

Modbus CAN
RTU Open Par.
Register Index
179 2097h 51 Motor Control Mode
180 2098h 52 Motor Parameter Autotune
181 2099h 53 Vector Mode Gain
182 209Ah 54 Maximum Current Limit
183 209Bh 55 Motor Stator Resistance
209Ch Motor Stator d-axis
184 56
Inductance (Lsd)
209Dh Motor Stator q-axis
185 57
Inductance (Lsq)
186 209Eh 58 DC Injection Speed
187 209Fh 59 DC Injection Current
188 20A0h 60 Motor Overload Configuration
9.3.7. Additional Information
Drive Control Word Format
15 14
Bit 0: Run/Stop command: Set to 1 to enable the drive. Set to 0 to stop the drive.
Bit 1: Fast stop request. Set to 1 to enable drive to stop with 2
Bit 2: Reset request. Set to 1 in order to reset the drive if drive is under trip condition.
User must clear this bit when drive is under normal condition to prevent un-expected reset.
Bit 3: Coast stop request. Set to 1 to issue a coast stop command.
For normal operation, Bit 3 has the highest priority, bit 0 has the lowest priority (bit 3>bit 1>bit 0). For example if user set
command as 0x0009, drive will do a coast stop rather than run. For normal run/start, just set this register to 1.
Note that stat/stop (bit 0), fast stop (bit 1) and coast stop (bit 3) only works if P-31= 0 or 1. Otherwise, start/stop function is
controlled by drive control terminals. Reset function (bit 2) works all the time as long as drive is operated under Modbus control
mode (P-12=3 or 4).
Speed Reference Format (Standard resolution)
Speed reference value is transferred with one decimal place (200 = 20.0Hz). The maximum speed reference value is limited by P-
01. Either register 2 or register 5 can be used for speed reference control, however only one reference should be used in any
control system, otherwise unexpected behaviour can result.
Acceleration / Deceleration Ramp Time
Active only when P-12 = 4, this register specifies the drive acceleration and deceleration ramp time. The same value is applied
simultaneously to the acceleration and deceleration ramp times. The value has two decimal places, e.g. 500 = 5.00 seconds.
High Resolution Speed Reference
This register allows the user to set the speed reference value in the internal format, e.g. 3000 = 50.0Hz. This allows control
resolution to 1 RPM with a 2 pole motor. The maximum allowed value is limited by P-01.
Either register 2 or register 5 can be used for speed reference control, however only one reference should be used in any control
system, otherwise unexpected behaviour can result.
Drive status and error code Word
High byte gives drive error code. (Valid when the drive is tripped, see 0 for further details)
Low byte gives drive status information as follows:-

Bit 0: 0 =Drive Stopped, 1 = Drive Running

Bit 1: 0 = OK, 1 = Drive Tripped

Bit 5: 0 = OK, 1 = In Standby Mode

Bit 6: 0 = Not Ready, 1 = Drive Ready to Run (not tripped, hardware enabled and no mains loss condition)
Scope Channel Data Values
These registers show the scope present data sample value for the first two scope channels. The channel data source selection is
carried out through Optitools Studio.
44
Optidrive Compact-2 Engineering Guide Issue 07.docx
Description Format
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
13 12 11 10 9
High byte
www.invertekdrives.com
Min Max
0 4
0 1
0 2000
0 1750
0 65535
0 65535
0 65535
0 P-01
0 1000
0 4
8 7 6 5 4
Low byte
nd
deceleration ramp.
Data format / scaling
See parameter description for details
1dp, e.g. 500 = 50.0%
1dp, e.g. 1000 = 100.0%
2dp, e.g. 100 = 1.00R
1dp, e.g. 1000 = 100.0mH
1dp, e.g. 1000 = 100.0mH
3000 = 50.0Hz
1dp, e.g. 100 = 10.0%
See Below
3 2 1 0