Running By Cia402 Drive Profile; Cia 402 Drive Profile - Toshiba TOSVERT VF-AS3 Manual

8. Running by CiA402 drive profile

In this chapter, it is described how to control the drive by CiA402 (IEC61800-7) drive
profile. On CiA402 drive profile, Controlword (0x6040) and vl_target_velocity (0x6042) are
used as drive command. When CiA402 drive profile is used, TOSHIBA drive profile
(communication command 1 (0x2A06) and communication command 2 (0x2A23) and
frequency command (0x2A07) etc.) can't be used at the same time.
However, for monitor or parameter read, TOSHIBA drive profile can be used.

8.1. CiA 402 drive profile

The control or monitor of drive can be operated by CiA402 drive profile. See the following
procedure example about the usage.
1. Set 4: Communication option to command mode selection (cmod) and Set 7:
communication option to frequency setting mode selection 1 (fmod).
Note) In case the drive is VF-AS3, cmod is set to 5 and fmod is set to 23.
2. Set to Controlword (0x6040) and vl_target_velocity (0x6042) to RPDO.
See 6.1.1 about mapping.
Set the number of motor pole to f856. Note) It needs to set only one time at first setting.
3. Set to the parameter of CiA402 for running (the values in brackets are the CANopen
addresses of the parameter).
4. Set 0x06 to Controlword (0x6040). Set 0x07 to Controlword (0x6040). Set 0x0F to
Controlword (0x6040). After that, CiA402 status is changed to operation enabled.
See "8.1.3.CiA402 State Chart".
5. Set 1500min
50Hz.
Control diagram:
Simplified diagram of speed control in "Velocity" mode:
vl_target_velocity
(0x6042)
vl_target_min/max
_amount (0x6046)
Number of motor pole
for communication
(f856: 0x2856）
vl_target_acceleration (0x6048)
vl_target_deceleration (0x6049)
*1: Do not change the acceleration/deceleration time unit (parameter f519), if change th
e parameter, the setting value range will be different from above range.
In this case, set 0(Linear) to acceleration/deceleration 1 pattern (f502: 0x2502). (S-p
attern isn't supported.)
*2: Set
Maximum frequency
-1 to vl_target_velocity (0x6042). As the result, the drive is running at
Controlword
(0x6040)
Velocity
limit
function
*2
(fh) to the right max value. See "8.1.8" for the detailed information.
State- Statusword
machine (0x6041)
Statusword (0x6041) bit11 (internal limit active)
vl_demand_
Ramp
value
function
(0x6043)
*1
- 41 -
E6581818⑭
Velocity
vl_velocity_actual_
Control
value (0x6044)
function