INVT Goodrive390L Series User Manual page 89

Goodrive390L Series Lift-Dedicated VFD
Communication object
SDO Rx
Node protection
COB-IDs vary according to communication address, but for one command, the COB-IDs
are within a certain range.
Note: The commands described in this manual are all data frames if it is not specified
that they are remote frames.
7.2.2.2 CANopen state transition
The start sequence defined in the CANopen communication protocol is supported. The
following figure shows the NMT state transition diagram.
(12)
State
transition
(1) Automatic initialization after power-on
(2) Automatic change after initialization
(3), (6) Command of the NMT master station for starting a remote node
(4), (7) Command of the NMT master station for entering the pre-operation state
202403 (V1.0）
Function code (binary)
Figure 7-8 NMT state diagram
Initializing
(1)
Initializing
Reset
application
Reset
communication
(14)
Pre-
operation
(13)
(3)
Operation
Table 7-2 NMT state transition
Required triggering event
1100
1110
(15)
(16)
(11)
(2)
(7)
(5)
Stopped
(4)
(6)
(8)
Communication protocol
COB-ID (hexadecimal)
0x601–0x67F
0x701–0x77F
(10)
(9)
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