INVT Goodrive390L Series User Manual page 91

Goodrive390L Series Lift-Dedicated VFD
Example

For example, the command to enable the VFD, whose node ID is 3, to enter the
pre-operation state is described as follow.
COB-ID
0x000
For another example, the command to start all VFD nodes on the CANopen network is
described as follows.
COB-ID
0x000
7.2.2.4 Node protection (NMT Node Guarding)
By using the node protection service, the NMT master node can detect the current state
of each node.
Command

Request: Master station (remote frame) –> slave station
COB-ID
0x700 + Node-ID
Response: Slave station -> master station
COB-ID
0x700 + Node-ID
Description

The most significant bit (MSB) bit 7 of Byte0 (state value) in the response command is the
triggering bit, that is, the value of bit 7 is alternated between 0 and 1 each time when the
slave station transmits a response frame to distinguish frames. Bits 0 to 6 indicate the
state of the slave station.
state.
State value (Byte0: Bits 0–6)
Example

For example, the command for the master station to detect the state of slave station 3.
Master station (remote frame) -> slave station
202403 (V1.0）
Table 7-5
Table 7-5 State values and their corresponding states
0x00
0x04
0x05
0x7F
Byte0
0x80
Byte0
0x01
No data
Byte0 (state value)
Bit 7: Triggering bit; Bits 0 to 6: State
describes the state values and their corresponding
Pre-operational
Communication protocol
Byte1
0x03
Byte1
0x00
State
Initializing
Stopped
Operation
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