Sync Communication - Toshiba TOSVERT VF-S15 Series Communication Function Manual

7.2. SYNC communication

This is a sample communication using SYNC message.
Parameter
cmod Command mode selection
fmod
Frequency setting mode selection
c701 Node-ID
Board rate
0: 20k
c702 1: 50k
2: 125k
3: 250k
Receive: COB-ID entry
c711 PDO1
High word
c712 Low word
c713 RPDO transmission type
Transmit :COB-ID
c714
High word
c715 Low word
c716 TPDO Transition type
c750 PDO1 Number of objects
c751 Command 1
Command 2
c752
c755 Number of objects
Monitor 1
c756
c757 Monitor 2
1. NMT Boot-up (Inverter power on)
INV - PC COB-ID
0x701
→
2. NMT Modeule Control (Change to Operational state)
INV - PC COB-ID
0x000
←
3. NMT Node Guarding
INV - PC COB-ID
0x701
→
4. RxPDO1 (Change to "Ready to switch on" state)
INV - PC COB-ID
← 0x201
Function
4: 500k
5: 800k
6: 1M
RTR DLC Data0
0 8 0
RTR DLC Data0
0 8 1
RTR DLC Data0
0x05
0 8 or
0x85
RTR DLC Data0
Control word
0 8
0x06
Factory
setting
Command from CANopen Network
1
Command from CANopen Network
0
1 ~ 127
127
CAN baud rate setting
2
(125kbps)
#1400 subidx 01
If the setting is default setting, COB-ID is
0x00000200
below value.
COB-ID=0x00000200+Node-
#1400 subidx 02 Synchronous
0x01
#1800 subidx 01
If the setting is default setting, COB-ID is
0x00000180
below value.
COB-ID=0x00000180+Node-ID
#1800 subidx 02 Synchronous
0x01
#1600 subidx 00 Receive PDO1 assignment:
0x02
Number of objects assigned
#1600 subidx 01 Command Index No.
0x6040
0x6040: Controlword
#1600 subidx 02 Command Index No.
0x6042
0x6042: vl target velocity
#1A00 subidx 00 Transmit PDO1
0x02
assignment: Number of objects assigned
#1A00 subidx 01 Monitor Index No.
0x6041
0x6041: vl Statusword
#1A00 subidx 02 Monitor Index No.
0x6044
0x6044: vl velocity actual value
Data1 Data2 Data3
--- --- ---
Data1 Data2 Data3
1 --- ---
Data1 Data2 Data3
--- --- ---
Data1 Data2 Data3
vl_target_velocity
0x00 0x00 0x00
- 39 -
E6581911
Comments
Data4 Data5 Data6
--- --- ---
Data4 Data5 Data6
--- --- ---
Data4 Data5 Data6
--- --- ---
Data4 Data5 Data6
--- --- ---
Data7
---
Data7
---
Data7
---
Data7
---