INVT Goodrive350 Series, Operation Manual

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Communication extension card CANopen communication card
-34-
Code Name Definition
09H
Password
protection
A user password is set, and the master station does not
provide the password to unlock the system when
performing a read or write operation. The error of system
locked is reported.

Example of PDO1
The VFD is a Goodrive350 series VFD, and the slave station address is 3. Assume that you
want to set the function code P15.13 of the VFD to 1.
Command analysis: The parameter address of P15.13 is 0×0F0D. According to the protocol,
the request code of PDO1 Rx is 0×02, the parameter address is 0x0F0D, and the requested
data is 0x01, and therefore PDO1 Rx transmitted by the master station is as follows.
COB-ID
Request code Parameter address Requested data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5
0x203 0x02 0x00 0x0D 0x0F 0x01 0x00
If the VFD parameter is successfully modified, the following PDO1 Tx command is returned.
COB-ID
Response
code
Error code Response data -
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x183 0x01 0x00 0x00 0x00 0x01 0x00 0x00 0x00
3.5.3 PDO2 Rx
PDO2 Rx is used to modify CWs and real-time process data (setting 1, setting 2, and setting 3)
of a VFD. A CW is used to control the start and stop of a VFD, and settings are used to control
the real-time running values of the VFD, such as set frequency.

Command
Master station -> slave station
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x300+NODEID
CW Setting 1 Setting 2 Setting 3
0x2101.00 0x2100.03 0x2100.04 0x2100.05

Description
A CW is two bytes. Byte0 is the LSB, and Byte1 is the MSB. Table 3-17 describes
Goodrive350 series VFD CWs.
Table 3-17 Goodrive350 series VFD CWs
Bit Name Value Description
0–7
Communication-based
control command
1 Forward running
2 Reverse running