Example Communication; Async Communication - Toshiba TOSVERT VF-S15 Series Manual

8. Example communication

8.1. ASYNC communication

This is an example communication to control run/stop the drive and set frequency command.
Parameter
cmod
Command mode setting
fmod
Frequency command selection
c701
Node-ID
Board rate
0: 20k
c702
1: 50k
2: 125k
3: 250k
Receive: COB-ID entry
c711
PDO1
High word
c712
Low word
c713
RPDO transmission type
Transmit :COB-ID
c714
High word
c715
Low word
c716
TPDO Transition type
c750
PDO1 Number of objects
c751
Command 1
c752
Command 2
c755
Number of objects
c756
Monitor 1
c757
Monitor 2
PC
Function
23 [VF-AS3]
4: 500k
5: 800k
6: 1M
0x00000201
0x00000181
Termination
resister
Setting
3 [VF-S15]
Command from CANopen
5 [VF-AS3]
6 [VF-S15]
Frequency from CANopen
1 1 ~ 127
CAN baud rate setting
2
(125kbps)
0x1400 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID = 0x00000200+Node-ID
0x1400 subidx 02 Asynchronous
0x0FF
0x1800 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID = 0x00000180+Node-ID
0x0FF 0x1800 subidx 02 Asynchronous
0x1600 subidx 00 Receive PDO1 assignment:
0x02
Number of objects assigned
0x1600 subidx 01 Command Index No.
0x6040
0x6040: Controlword
0x1600 subidx 02 Command Index No.
0x6042
0x6042: vl target velocity
0x1A00 subidx 00 Transmit PDO1
0x02
assignment: Number of objects assigned
0x1A00 subidx 01 Monitor Index No.
0x6041
0x6041: vl Statusword
0x1A00 subidx 02 Monitor Index No.
0x6044
0x6044: vl velocity actual value
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