Toshiba TOSVERT VF-AS3 Manual page 18

Comm
Title unicati
on No.
c400
C400 EtherCAT slave status
EtherCAT
c401
C401
address
EtherCAT address
c402
C402
Actual value
c410
C410 PDO: Command1
c411
C411 PDO: Command2
c412
C412 PDO: Command3
c413
C413 PDO: Command4
c414
C414 PDO: Command5
c415
C415 PDO: Command6
c416
C416 PDO: Monitor1
c417
C417 PDO: Monitor2
c418
C418 PDO: Monitor3
c419
C419 PDO: Monitor4
c420
C420 PDO: Monitor5
c421
C421 PDO: Monitor6
c858
C858 Vl_Velocity_Max_Amount
Vl_Velocity_Acceleration
c860
C860
Delta_Speed
Vl_Velocity_Acceleration
c862
C862
Delta_Time
Vl_Velocity_Deceleration
c863
C863
Delta_Speed
Vl_Velocity_Deceleration
c865
C865
Delta_Time
*1: Do not change the acceleration/deceleration time unit (parameter f519), if change the
parameter, the setting value range will be different from above range.
*2: These parameters are according to c410 ~ c421 parameters. These default values were
set when the EtherCAT option was installed.
*3: These parameters are set from master (TwinCAT
*4: The description and setting are only for the VF-AS3.
*5: Acceleration time 1 (acc) and deceleration time 1 (dec) are worked when cmod isn't
"Communication option". If cmod is "Communication option", Acceleration and deceleration
time 1 are worked by c860, c862, c863, c865. See "7.1.TOSHIBA Drive profile" for
the detailed information.
*6: Upper limit frequency (ul) isn't worked when c858 isn't 0. Set c858 to the upper limit
speed. See "7.1.TOSHIBA Drive profile" for the detailed information.
*7: EtherCAT second address (c401) can't be copied by Remote keypad (RKP002Z, RKP006Z).
Set up "Communication error trip function (c100 to c103)" to stop the drive when
Mandatory
EtherCAT
action
Function
1: INIT
2: PREOP
3: BOOTTRAP Bootstrap
4: SAFE-OP
In SAFE-OP mode, inputs are updated in PDOs,
outputs are not valid.
8: OP Operational
In OP mode, inputs and outputs are valid.
0 - 65535
second
Address changeable from drive or from master via 2nd
address dialog.
0 - 65535
The monitor of the EtherCAT address actual value
Index 0x1600 sub-index 0x01 Command Index No.
0x6040: Controlword
Index 0x1600 sub-index 0x02 Command Index No.
0x6042: vl target velocity
Index 0x1600 sub-index 0x03 Command Index No.
Index 0x1600 sub-index 0x04 Command Index No.
Index 0x1600 sub-index 0x05 Command Index No.
Index 0x1600 sub-index 0x06 Command Index No.
Index 0x1A00 sub-index 0x01 Monitor Index No.
0x6041: vl Statusword
Index 0x1A00 sub-index 0x02 Monitor Index No.
0x6044: vl velocity actual value
Index 0x1A00 sub-index 0x03 Monitor Index No.
Index 0x1A00 sub-index 0x04 Monitor Index No.
Index 0x1A00 sub-index 0x05 Monitor Index No.
Index 0x1A00 sub-index 0x06 Monitor Index No.
0 – 0xFFFF (min
0 – 0xFFFF (s)
0 – 0xFFFF (min
0 – 0xFFFF (s)
0 – 0xFFFF (min
Warning
®
communication is deactivated.
Description
Initialization
Pre-operational
Safe operational
-1
)
-1
)
-1
)
®
).
- 17 -
E6581818⑭
Default
1
*7
0
3
0*
0x6040
3
*
0x6042
3
*
3
0*
3
0*
3
0*
3
0*
0x6041
3
*
0x6044
3
*
3
0*
3
0*
3
0*
3
0*
0x05dC
6
(1500)*
0x05dC
5
(1500) *
0x000A
5
(10)*
0x05dC
5
(1500) *
0x000A
5
(10) *