INVT Goodrive390L Series User Manual page 96

Goodrive390L Series Lift-Dedicated VFD
Command

Request: master station -> slave station
COB-ID
0x600+NodeID
Response: Slave station -> master station
COB-ID
0x580+NodeID
Description

An object index is two bytes. Byte1 is the LSB, and Byte2 is the MSB. For information
about the indexes and subindexes, see the object dictionary. Request codes include
request codes for reading and those for writing.
Request codes for writing vary according to the character length of items in the object
dictionary, and the request code for reading are 0×40. See
Response codes indicating successful reading vary according to the character length of
items in the object dictionary, and the response code indicating successful writing are
0×60. The response codes indicating reading failure and writing failure are both 0x80.
See Table 7-9.
Request code type Request code Command description
Write
Read
Response code
type
Read
Write
Read/write
202403 (V1.0）
Byte0 Byte1 Byte2
Reques Object index
t code
LSB MSB
Byte0 Byte1 Byte2
Object index
Respon
se code
LSB MSB
Table 7-8 SDO request codes and requested data
0x23
0x2B
0x2F
0x40
Table 7-9 SDO response codes and response data
Response
code
0x43
0x4B
0x4F
0x60
0x80
Byte3 Byte4
Sub-ind
ex
bit7-0
Byte3 Byte4
Sub-ind
ex
bit7-0
Writes 4-byte data
Writes 2-byte data
Writes 1-byte data
Reads data
Command
description
Reads 4-byte data
Reads 2-byte data
Reads 1-byte data
Writing succeeds
Reading/writing fails
Communication protocol
Byte5 Byte6
Response data
bit15-8 bit23-16
Byte5 Byte6
Response data
bit15-8 bit23-16
Table 7-8.
Requested data
Byte4 Byte5 Byte6
bit7-0 bit15-8 bit23-16 bit31-24
bit7-0 bit15-8 -
bit7-0 - -
- - -
Response data
Byte4 Byte5 Byte6
bit7-0 bit15-8 bit23-16 bit31-24
bit7-0 bit15-8 -
bit7-0 - -
- - -
Interruption error code
bit7-0 bit15-8 bit23-16 bit31-24
Byte7
bit31-24
Byte7
bit31-24
Byte7
-
-
-
Byte7
-
-
-
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