INVT Goodrive350 Series, Operation Manual

Page: 97 / 135

Communication extension card EtherCAT communication card
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6.5.2.5 Cyclic Synchronous torque Mode
1. Set 【 6060h: Mode of operations 】 to 10 (Cyclic synchronous torque mode).
2. Set the VFD to torque control (P03.32=1).
3. Set
【
6040h: Control word
】
to enable the drive (set it to 0x0F for enabling) and start the
motor for running.
4. Set 【 6071h: Target torque 】 to set the target torque.
5. Query 【 6041h: Status word 】 to obtain the status feedback of the drive (Speed zero, Max
slippage error, Target reached, and Internal limit active).
6.6 Function code modification
Index Sub-index Description Permission Data type Default
2000h 0
Read
function
codes
RW UINT32 0
Bits 16–31: Read function code addresses
Bits 00–15: No function
Example of read operation: Read the keypad-set frequency (value of P00.10)
SDO operates 2000h to write 0x00A00000. View the response value of 2001h read
operation.
2001h 0
Read
response
RO UINT32 0
Bits 16–31: 0x0001 read success
Bits 00–15: Parameter value read by 2000h
Bits 16–31: 0x0003 read error
Bits 00–15: Error codes
0x0002 illegal data address
0x0009 password protection
2002h 0
Write
function
codes
RW UINT32 0
Bits 16–31: Write function codes
Bits 00–15: Written data
Write operation example: Modify the value of P00.10 to 50.00.
SDO operates 2002h to write 0x000A1388. View the response value of 2003h write
operation.
2003h 0
Write
response
RO UINT32 0