Fuji Electric FRENIC-Ace series, User Manual

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9.2 CANopen Communication
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Chap 9
9.2.10 Inverter operation in CANopen communication
This chapter describes the inverter’s operation by using the CANopen communication.
There are the following two ways to run the inverter:
1. Operation according to CANopen’s drive profile (DSP 402)
2. Operation according to the inverter function code S06
[ 1 ] Operation according to CANopen’s drive profile (DSP 402)
(1) Related object list
Index
(Hex)
Sub Name Description Data type Access
6040 - Controlword Controls the state change of state machine UNSIGNED16 RW
6041 - Statusword Displays the current state. UNSIGNED16 R
6042 - vl target velocity Speed command (r/min) INTEGER16 RW
6044 - vl control effort Monitor the output speed (r/min) INTEGER16 R
604B - vl set-point factor
Modifies the resolution and specified range of
the speed settings.
ARRAY RW
As for the inverter’s operation, PDO No.2 is useful which can send both Controlword and speed
command at the same time.
(2) Description of related objects
■
Controlword
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
Fault reset 0 0 0
Enable
operation
Quick stop
Enable
voltage
Switch on
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
X4 X3 X2 X1 Reverse 0 0 Halt
bits 0 to 3 : Operates the state change of state machine. Refer to Figure 9.2-3.
bit 7 Fault reset : Resets the alarm by change from zero to one.
bit 8 Halt
: 1= Fixes the inverter’s output speed at 0 r/min.
bit 11 Reverse : Sets the rotation direction. 0= rotates forward, 1=rotates backward
bits 12 to 15
: Digital input terminal X1 to X4. 0=OFF, 1=ON