Control & Status Registers; 1. 1 . Control Registers - Invertek Drives Optidrive E3 ODE-3 Series User Manual

11. Control & Status Registers
11.1. Control Registers
When controlling the drive through any fieldbus network it is recommended to use the registers below. These registers support the
Modbus RTU Function Code Write Multiple Registers and so all registers can be set in a single transaction greatly speeding up the
drive control.
These registers are pre-mapped to the CAN RX PDO1 and are also used in the EDS file for Ethernet/IP communication.
The functions are described more fully in section 1 1.2. Standard Status Registers on page 36.
Modbus CAN
Sub
RTU Open
Index
Register Index
1 2000h 0
2 2001h 0
3 2002h 0
4 2003h 0
11.1.1. Drive Control Word Format
15 14 13 12
High byte
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 2nd deceleration ramp.
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 Start/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).
11.1.2. Frequency Setpoint
Frequency Setpoint value is transferred with one decimal place (200 = 20.0Hz).
The maximum value is limited by P-01.
Sending a value that exceeds P-01 will result in an Exception error.
11.1.3. Ramp Time
Active only when P-12 = 8 (CAN) or 4 (All other fieldbus).
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.
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PDO Parameter Upper
Map Number byte
Y - Control Word
Y - Frequency Setpoint
Y - Reserved
Y - Ramp Time
11 10 9 8
Lower
Format Type
Byte
WORD R/W
S16 R/W
- R/W
U16 R/W
7 6 5 4
Low byte
Version 1.00 | Fieldbus Guide | 35
Scaling
See Below
1dp, e.g. 100 = 10.0Hz
No function
2dp, e.g. 500 = 5.00s
3 2 1 0
11