Toshiba TOSVERT VF-S15 series Manual

E6581911
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7. Control from CANopen Network
7.1. NMT state machine
Below figure describes NMT state machine.
State
No.
NMT Service
COB-ID
RTR
DLC
Data0
Data1
Data2 ~ 7
1
Start Remote Node
0x000
0
2
0x01
Node-ID
0x00,…,0x00
2
Stop Remote Node
0x000
0
2
0x02
Node-ID
0x00,…,0x00
3
Enter Pre-Operational State
0x000
0
2
0x80
Node-ID
0x00,…,0x00
4
Reset Node
0x000
0
2
0x81
Node-ID
0x00,…,0x00
5
Reset Communication
0x000
0
2
0x82
Node-ID
0x00,…,0x00
6
Device initialization finished,
enter Pre-Operational state
automatically,
send Boot-up message
0x700+
Node-ID
0
1
0x00
0x00,…,0x00
7.2. SDO communication
Using SDO (Service Data Object) communication, the drive parameters and CANopen object data can be
read or wrote. When write Communication profile data, please confirm the NMT state machine is
Pre-Operational state.
NMT State
SDO
PDO
Communication
Profile
0x1000 ~ 0x1FFF
Manufacturer
Specific Profile
0x2000 ~ 0x5FFF
Standard Device
Profile
0x6000 ~ 0x9FFF
Stopped
---
---
---
---
Initializing
---
---
---
---
Pre-Operational
Read / Write
Read / Write *1
Read / Write
---
Operational
Read
Read / Write *1
Read / Write
Read / Write
*1: Write access is depending on each parameter.
Operational
Pre-Operational
Initializing
Stopped
3
4
4
4
3
2
2
5
5
5
1
6
Power-on
1

Toshiba TOSVERT VF-S15 series Specifications

General

Brand	Toshiba
Model	TOSVERT VF-S15 series
Category	Inverter
Language	English