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 55.
Modbus
Name RTU
Register
PDO0 1
PDO1 2
PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 PDO2 3 3 3 3 3 3 3 3 3 3 3
PDO3 PDO3 PDO3 PDO3 PDO3 PDO3 PDO3 PDO3 PDO3 4 4 4 4 4 4 4 4 4
11.1.1. Drive Control Word PDO0 11.1.1. Drive Control Word PDO0
Bit Bit Bit Bit Function When "0" Function When "0" Function When "0" Function When "0"
15 15
14 14
13 13
12 12
1 1
10 10
9 9 9 Digital output OFF Digital output OFF Digital output OFF
8 8 8 Relay Output OFF Relay Output OFF Relay Output OFF
7
6
5
4
3 3 3 Operation Permitted Operation Permitted Operation Permitted
2 No Action No Action
1 1 1 Operation Permitted Operation Permitted Operation Permitted
0
For normal operation, Bit 3 has the highest priority, bit 0 has the lowest priority (bit 3>bit 1>bit 0). For normal operation, Bit 3 has the highest priority, bit 0 has the lowest priority (bit 3>bit 1>bit 0).
Note that the Run / Stop (bit 0), Fast Stop (bit 1) and Coast Stop (bit 3) only operate under the following conditions: Note that the Run / Stop (bit 0), Fast Stop (bit 1) and Coast Stop (bit 3) only operate under the following conditions:
 Fieldbus control (or CAN) is selected in P-12 Fieldbus control (or CAN) is selected in P-12
 P-31= 0 or 1 P-31= 0 or 1
Otherwise, Run / Stop function is controlled by drive control terminals.
Reset function (bit 2) is always active when the drive operates in Fieldbus or CAN mode.
Bits 8 and 9 may optionally be used to control the state of the built in Analog Output in Digital Mode and the Output relay. This
function is activated if selected by the relevant parameter:
 Relay Output P-18
 Digital Output, P-25
Refer to the programming Guide for further information.
11.1.2. Frequency Setpoint PDO1
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
54 | Fieldbus Guide | Version 1.02
CAN
Sub PDO Parameter
Open
Index Map Number
Index
2000h 0 Y
2001h 0 Y
2002h 2002h 2002h 2002h 2002h 2002h 2002h 2002h 2002h 2002h 2002h 0 0 0 0 0 0 0 0 0 0 0 Y Y Y Y Y Y Y Y Y Y Y
2003h 2003h 2003h 2003h 2003h 2003h 2003h 2003h 2003h 0 0 0 0 0 0 0 0 0 Y Y Y Y Y Y Y Y Y
Function When "1" Function When "1" Function When "1" Function When "1"
No Function Assigned No Function Assigned
Digital Output ON Digital Output ON
Relay Output ON Relay Output ON
No Function Assigned No Function Assigned
Coast Stop Coast Stop
Reset Active Fault Reset Active Fault
Fast Stop Fast Stop
Stop Stop Run Run
Upper Lower
Byte Byte
- Control Word
- Frequency Setpoint
- - - - - - - - - - - PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output PID Setpoint, Analog Output
- - - - - - - - - Ramp Time Ramp Time Ramp Time Ramp Time Ramp Time Ramp Time Ramp Time Ramp Time Ramp Time
Format Type Scaling
WORD R/W See Below
S16 R/W 1dp, e.g. 100 = 10.0Hz
- - - - - - - - - - - R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100% 0 – 4096 = 0 – 100%
U16 U16 R/W R/W R/W 2dp, e.g. 500 = 5.00s 2dp, e.g. 500 = 5.00s 2dp, e.g. 500 = 5.00s
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