Xinje VH5 Series User manual

VH5/VH6 series EtherCAT communication
User manual
Wuxi XINJE Electric Co., Ltd.
Data No.: INV C 08 20220623 1.1

Basic description
Thank you for purchasing Xinje VH5 series frequency converter. Please read this product manual carefully
before carrying out relevant operation.
The manual mainly provides users with relevant guidance and instructions for the correct use and
maintenance of the frequency converter. The manual involves the functions of the frequency converter
communication expansion card, usage, installation and maintenance, etc.
The contents in the manual are only applicable to the inverter products of Xinje company.
Notice to users
This manual is suitable for the following users
The installation personnel of frequency converter
Engineering and technical personnel (electrical engineer, electrical operator, etc.)
The designer
Before the above personnel operate or debug the inverter, please carefully read the chapter of safety precautions in
this manual.
Statement of responsibility
Although the contents of the manual have been carefully checked, errors are inevitable, and we can't
guarantee complete consistency.
We will often check the contents of the manual and correct them in subsequent versions. We welcome your
valuable comments.
Please understand that the contents described in the manual are subject to change without notice.
Contact us
If you have any questions about the use of this product, please contact the agent and office purchasing the product,
or directly contact Xinje company.
Tel: [phone]
Fax: [phone]
Address: No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province, China
Code: 214072
Website: www.xinje.com

3
Catalog
Catalog ................................................................................................................................................................................ 3
1. Product confirmation .....................................................................................................................................................5
2. Summary .........................................................................................................................................................................6
3. Product characteristics .................................................................................................................................................. 6
4. Communication card components ................................................................................................................................ 7
4.1 VH5-CC100 communication card components & indicator description ................................................................... 7
4.2 VH6-CC100communication card components & indicator description .................................................................... 8
5. Installation ...................................................................................................................................................................... 9
5.1 Install VH5-CC100 communication card .................................................................................................................. 9
5.2 Install VH6-CC100 communication card ................................................................................................................ 10
6. CoE Object dictionary ................................................................................................................................................. 11
6.1 Object dictionary area assignment ........................................................................................................................... 11
6.2 COE communication area ........................................................................................................................................ 11
6.3 VFD Internal parameter mapping area (manufacturer defined area) ....................................................................... 14
6.4 Independent Protocol ............................................................................................................................................... 15
6.5 CiA402 object(Driver profile area) ..........................................................................................................................16
7. State control .................................................................................................................................................................. 17
7.1 VFD status control ................................................................................................................................................... 17
7.1.1 state machine .....................................................................................................................................................17
7.1.2 Status description ..............................................................................................................................................18
7.1.3 Control command ............................................................................................................................................. 18
7.1.4 Status .................................................................................................................................................................18
7.2 Operating mode ........................................................................................................................................................19
7.2.1 Speed mode .......................................................................................................................................................19
7.2.2 Torque mode ..................................................................................................................................................... 19
8. Independent protocol object ........................................................................................................................................20
9. CiA402 protocol object ................................................................................................................................................ 22
10. EtherCAT use case ..................................................................................................................................................... 26
10.1 XINJE XDH series PLC and VH5/VH6 ................................................................................................................ 26
10.1.1 System topology ............................................................................................................................................. 26
10.1.2 Physical wiring ............................................................................................................................................... 26
10.1.3 System configuration ...................................................................................................................................... 26
10.1.4 Control under CIA 402 protocol and Independent protocol ........................................................................... 29

4
10.1.5 Instruction read / write ....................................................................................................................................33
10.2 Omron series PLC and VH5/VH6(CiA402 protocol) ............................................................................................35
10.2.1 System configuration ...................................................................................................................................... 35
10.2.2 Parameter setting .............................................................................................................................................35
10.2.3 Setup steps ...................................................................................................................................................... 35
10.3 Beckhoff series PLC (TWINCAT ) and VH5/VH6 ............................................................................................... 45
10.3.1 System configuration ...................................................................................................................................... 45
10.3.2 Parameter setting .............................................................................................................................................45
10.3.3 Setup steps ...................................................................................................................................................... 45
10.4 Inovance AM600 (CODESYS) and VH5/VH6 ..................................................................................................... 50
10.4.1 System configuration ...................................................................................................................................... 50
10.4.2 Parameter setting .............................................................................................................................................50
10.4.3 Setup steps ...................................................................................................................................................... 50
10.5 Inovance H5U and VH5/VH6 ................................................................................................................................58
10.5.1 System configuration ...................................................................................................................................... 58
10.5.2 Parameter setting .............................................................................................................................................58
10.5.3 Setup steps ...................................................................................................................................................... 58
10.6 KEYENCE PLC KV 7300 and VH5/VH6 .............................................................................................................64
10.6.1 System configuration ...................................................................................................................................... 64
10.6.2 Parameter setting .............................................................................................................................................64
10.6.3 Setup steps ...................................................................................................................................................... 64
11. EtherCAT communication alarm code .....................................................................................................................71

5
1. Product confirmation
Thank you for using XINJE VH5 / VH6 series frequency converter and selecting EtherCAT expansion card.
Please confirm the following when receiving the product:
Check whether the Ethercat expansion card is damaged.
Confirm whether the received card is correct through the label on the board, refer to Fig1.
Confirm whether the package is complete. Refer to Table 1.
If the card is damaged, the model is wrong, or there are omissions in the package, please contact the supplier
or salesman immediately.
Please download the XML file of this card on the website:www.xinje.com, file name: VHX-CC100.xml.
Fig. 1 Nameplate label location
Table 1 Package
Model
Content
Photo
Quantity
VH5-CC100
Communication
card
1
Screw and
bracket
1
VH6-CC100
Communication
card
1

6
2. Summary
This manual provides functional specifications, installation, basic operation and settings, as well as a brief
introduction to the contents of EtherCAT protocol. To ensure the correct installation and operation of this product,
please carefully read this manual and the communication protocol of the frequency converter before using this
communication card.
This manual is only used as the VHX-CC100 operation guide and related instructions. The details of EtherCAT
protocol are not introduced here. If readers want to know more about EtherCAT protocol, please refer to relevant
professional articles or books.
This EtherCAT communication card supports two kinds of reading and writing process quantities, one is through
PDO, and the other is through SDO to read and write the object dictionary defined by the manufacturer.
3. Product characteristics
Supported functions
Support EtherCAT COE 402 protocol
Supported services
Support PDO
Support SDO
Support the object dictionary defined by the manufacture
Support SDO to read and write the function code of VFD
Supported EtherCAT Synchronization cycle
Item
Supported specifications
Synchronization cycle
250us
1ms
2ms
4ms
SDO/PDO data description
SDO(Service Data Object) is used to transmit aperiodic communication data. The master station reads and writes
data in the object dictionary , and can set the objects and monitor various states of the slave station. The response
to the read / write action to the SDO takes time. Objects refreshed with PDO should not be refreshed with SDO,
but overwritten with the value of PDO.
PDO(Process Data Object) is used to transmit periodic communication data.
The data in PDO area can realize the real-time change of VFD data by the master station and the real-time reading
of periodic data interaction.
The communication address of the data is directly configured by the VFD. It mainly includes the following
contents:

7
Master station send PDO data(RxPDO 0x1600)
Fixed RxPDO
Variable RxPDO
Controlword
6040h
vl target
velocity
6042h
Modes of
operation
6060h
Target position
607A h
(reserved)
Target torque
6071h
Functional
parameters of VFD
can be changed in
real time
RxPDO1
RxPDO2
RxPDO3
RxPDO4
RxPDO5
None
VFD corresponding PDO data(TxPDO 0x1a00)
Fixed TxPDO
Variable TxPDO
Statusword
6041 h
Velocity
actual
value
606C h
Mode of
operation
display
6061 h
Torque
actual
value
6077 h
Position
actual
value
6064 h
vl target
demand
6043 h
Error
code
603Fh
vl target
actual value
6044h
Functional
parameters of VFD
can be changed in
real time
TxPDO1
TxPDO2
TxPDO3
TxPDO4
TxPDO5
TxPDO6
TxPDO7
TxPDO8
TxPDO9~TxPDO12
Note: RxPDO and TxPDO can be configured with 12 at most. RxPDO cannot be added. 8 TxPDOs can be fixed
and 4 TxPDOs can be added.
4. Communication card components
4.1 VH5-CC100 communication card components & indicator description
The expansion card has three LED lights, as shown in the figure .
The status indicators in the figure are error indicator, operation indicator and VFD communication status indicator
from left to right. The descriptions are as follows:
Type
Status
Description
Error indicator
Normally OFF
No error
OFF 0.2s ON 0.2s flashing
Pre-OP fault status
OFF 1s ON 1s flashing
Safe-OP fault status
Normally ON
OP fault status
Operation indicator
Normally OFF
Init status
OFF 0.2s ON 0.2s flashing
Pre-OP status
OFF 1s ON 1s flashing
Safe-OP status
Normally ON
OP status

8
VFD communication status
indicator
Normally OFF
The expansion card is disconnected from the
frequency converter
1Hz flashing
The connection between the expansion card
and the frequency converter is normal
Normally ON
The expansion card is establishing connection
with the frequency converter
4.2 VH6-CC100communication card components & indicator description
The status indicators in the figure are VFD communication status indicator , operation indicator and the error
indicator from top to bottom. The descriptions are as follows:
Type
Status
Description
VFD communication status
indicator
Normally OFF
The expansion card is disconnected from the
frequency converter
1Hz flashing
The connection between the expansion card and
the frequency converter is normal
Normally ON
The expansion card is establishing connection
with the frequency converter
Operation indicator
Normally OFF
Init status
OFF 0.2s ON 0.2s flashing
Pre-OP status
OFF 1s ON 1s flashing
Safe-OP status
Normally ON
OP status
Error indicator
Normally OFF
No error
OFF 0.2s ON 0.2s flashing
Pre-OP fault status
OFF 1s ON 1s flashing
Safe-OP fault status
Normally ON
OP fault status

9
5. Installation
5.1 Install VH5-CC100 communication card
1. Disconnect all power inputs of frequency converters to ensure that the internal voltage of the frequency
converter is safe.
2. Disassemble the frequency converter cover plate and find the control board.
3. Install the hexagon stud at the corresponding position of the board, and tighten the M3 single head hexagon
stud on the drive plate. As shown in the following figure:
4. Align the communication card pin with the expansion card slot of the control board and insert it firmly.
5. Tighten M3 screws.
6. Install the frequency converter cover plate.
7. Connect and fix the communication line.
Note: Hot plugging is prohibited.

10
5.2 Install VH6-CC100 communication card
1. Disconnect all power inputs of VFD to ensure that the internal voltage of the frequency converter is safe.
2. Remove the C card cover plate of the VFD.
3. Align the communication card pin with the control board expansion card slot and insert it firmly.
4. Tighten M3 screws.
5. Connect and fix the communication line.
Note: Hot plugging is prohibited.
15 min
1.安装、运行前请务必阅读使用说明书,否则会有电击危险！
2.在通电状态下和切断电源15分钟以内，请勿拆下盖板！
3.进行维护、检查及接线时，请在切断输入侧和输出侧电源后，等待 15分钟，
待电源指示灯彻底熄灭后开始作业。
REST
JOG/REV
ENT/DATA
MENU/ESC
STOP
RUN
R
INPUT OUTPUT
STUVW
PB P+ P-
DC-BUS

11
6. CoE Object dictionary
6.1 Object dictionary area assignment
CoE Object dictionary
VHX-CC100 object dictionary
Index
Content
Index
Content
0000h~0FFFh
Data type area
0000h~0FFFh
Data type area
1000h~1FFFh
COE communication area
1000h~1C33h
DS301 object dictionary (CANopen protocol
communication area)
2000h~4FFFh
Factory parameter display
and setting area
2000h~4FFFh
VFD Internal parameter mapping area
(manufacturer defined area)
5000h~5FFFh
Independent Protocol area
5000h~5200h
Independent motion control (manufacturer
defined area)
6000h~9FFFh
Device CiA402 protocol
area
6000h~6502h
CiA402object(Driver profile area)
7000h~9FFFh
Reserved
A000~FFFFh
Reserved
A000h~FFFFh
Reserved
The object dictionary of EtherCAT bus is all in the device description file, i.e. XML file. The XML file of VH5
and VH6 EtherCAT expansion card is: VHX-CC.xml.
6.2 COE communication area
Index
Sub-index
Name
Data type
Access
1000h
-
Device type
UINT32
RO
1001h
-
Error register
UINT8
RO
1008h
-
Manufacture device name
STRING
-
1009h
-
Manufacture hardware version
STRING
-
100Ah
-
Manufacture software version
STRING
-
1018h
-
Identity object
-
-
00
Number of entries
UINT8
RO
01
Vendor ID
UINT32
RO
02
Product code
UINT32
RO
03
Revision number
UINT32
RO
04
Serial number
UINT32
RO
1600h
-
Receive PDO mapping 1
-
-
00
Number of entries
UINT8
RW
01
1st receive PDO mapped
UINT32
RW
02
2nd receive PDO mapped
UINT32
RW
03
3rd receive PDO mapped
UINT32
RW
04
4th receive PDO mapped
UINT32
RW
…
...
...
...
11
11th receive PDO mapped
UINT32
RW
12
12th receive PDO mapped
UINT32
RW
1601h
-
Receive PDO mapping 2
-
-
00
Number of entries
UINT8
RW
01
1st receive PDO mapped
UINT32
RW
02
2nd receive PDO mapped
UINT32
RW

12
Index
Sub-index
Name
Data type
Access
03
3rd receive PDO mapped
UINT32
RW
04
4th receive PDO mapped
UINT32
RW
…
...
...
...
11
11th receive PDO mapped
UINT32
RW
12
12th receive PDO mapped
UINT32
RW
1602h
-
Receive PDO mapping 3
-
-
00
Number of entries
UINT8
RW
01
1st receive PDO mapped
UINT32
RW
02
2nd receive PDO mapped
UINT32
RW
03
3rd receive PDO mapped
UINT32
RW
04
4th receive PDO mapped
UINT32
RW
…
...
...
...
11
11th receive PDO mapped
UINT32
RW
12
12th receive PDO mapped
UINT32
RW
1603h
-
Receive PDO mapping 4
-
-
00
Number of entries
UINT8
RW
01
1st receive PDO mapped
UINT32
RW
02
2nd receive PDO mapped
UINT32
RW
03
3rd receive PDO mapped
UINT32
RW
04
4th receive PDO mapped
UINT32
RW
…
...
...
...
11
11th receive PDO mapped
UINT32
RW
12
12th receive PDO mapped
UINT32
RW
1A00h
-
Transmit PDO mapping 1
-
-
00
Number of entries
UINT8
RW
01
1st transmit PDO mapped
UINT32
RW
02
2nd transmit PDO mapped
UINT32
RW
03
3rd transmit PDO mapped
UINT32
RW
04
4th transmit PDO mapped
UINT32
RW
…
...
...
...
11
11th transmit PDO mapped
UINT32
RW
12
12th transmit PDO mapped
UINT32
RW
1A01h
-
Transmit PDO mapping 2
-
-
00
Number of entries
UINT8
RW
01
1st transmit PDO mapped
UINT32
RW
02
2nd transmit PDO mapped
UINT32
RW
03
3rd transmit PDO mapped
UINT32
RW
04
4th transmit PDO mapped
UINT32
RW
…
...
...
...
11
11th transmit PDO mapped
UINT32
RW
12
12th transmit PDO mapped
UINT32
RW
1A02h
-
Transmit PDO mapping 3
-
-
00
Number of entries
UINT8
RW
01
1st transmit PDO mapped
UINT32
RW
02
2nd transmit PDO mapped
UINT32
RW
03
3rd transmit PDO mapped
UINT32
RW
04
4th transmit PDO mapped
UINT32
RW
…
...
...
...

13
Index
Sub-index
Name
Data type
Access
11
11th transmit PDO mapped
UINT32
RW
12
12th transmit PDO mapped
UINT32
RW
1A03h
-
Transmit PDO mapping 4
-
-
00
Number of entries
UINT8
RW
01
1st transmit PDO mapped
UINT32
RW
02
2nd transmit PDO mapped
UINT32
RW
03
3rd transmit PDO mapped
UINT32
RW
04
4th transmit PDO mapped
UINT32
RW
…
...
...
...
11
11th transmit PDO mapped
UINT32
RW
12
12th transmit PDO mapped
UINT32
RW
1C00h
-
Sync manager communication type
-
-
01
Communication type sync manager 0
UINT8
RO
02
Communication type sync manager 1
UINT8
RO
03
Communication type sync manager 2
UINT8
RO
04
Communication type sync manager 3
UINT8
RO
1C12h
-
Sync manager channel 2
-
-
00
Number of assigned PDOs
UINT8
RW
01
PDO mapping object index of assigned RxPDO1
UINT16
RW
02
PDO mapping object index of assigned RxPDO2
UINT16
RW
03
PDO mapping object index of assigned RxPDO3
UINT16
RW
04
PDO mapping object index of assigned RxPDO4
UINT16
RW
1C13h
-
Sync manager channel 3
-
-
00
Number of assigned PDOs
UINT8
RW
01
PDO mapping object index of assigned TxPDO1
UINT16
RW
02
PDO mapping object index of assigned TxPDO2
UINT16
RW
03
PDO mapping object index of assigned TxPDO3
UINT16
RW
04
PDO mapping object index of assigned TxPDO4
UINT16
RW
1C32h
-
SM output parameter
-
-
00
Number of sub-objects
UINT8
RO
01
Synchronization Type
UINT16
RW
02
Cycle time
UINT32
RO
03
Shift time
UINT32
RW
04
Sync modes supported
UINT16
RO
05
Minimum cycle time
UINT32
RO
06
Calc and copy Time
UINT32
RO
08
Get cycle time
UINT16
RW
09
Delay time
UINT32
RO
10
Sync0 cycle time
UINT32
RW
11
SM-Event Missed
UINT16
RO
12
Cycle time too small
UINT16
RO
32
Sync error
UINT8
RO
1C33h
-
SM input parameter
-
-
00
Number of sub-objects
UINT8
RO
01
Sync mode
UINT16
RW
02
Cycle time
UINT32
RO
04
Sync modes supported
UINT16
RO
05
Minimum cycle time
UINT32
RO

14
Index
Sub-index
Name
Data type
Access
06
Calc and copy Time
UINT32
RO
08
Get cycle time
UINT16
RW
09
Delay time
UINT32
RO
10
Sync0 cycle time
UINT32
RW
11
SM-Event Missed
UINT16
RO
12
Cycle time too small
UINT16
RO
32
Sync error
UINT8
RO
Note: Items marked with "-" in the table indicate that there are no related attributes in the object dictionary.
6.3 VFD Internal parameter mapping area (manufacturer defined area)
The object dictionary in the user-defined area of the manufacturer corresponds to the panel parameters of VFD
one by one. Only Group U parameters of the object dictionary in this area can be TPDO mapped and can be read
by PDO. Other object dictionaries can only be operated based on SDO.
Index
Sub-index
Parameter
Index
Sub-index
Parameter
2000h
00
P0-00
2900h
00
P9-00
2001h
00
P0-01
2901h
00
P9-01
2002h
00
P0-02
0902h
00
P9-02
2003h
00
P0-03
2903h
00
P9-03
...
...
...
...
...
...
201Ah
00
P0-26
291Eh
00
P9-30
2100h
00
P1-00
2A00h
00
PA-00
2101h
00
P1-01
2A01h
00
PA-01
2102h
00
P1-02
2A02h
00
PA-02
2103h
00
P1-03
2A03h
00
PA-03
...
...
...
...
...
...
2123h
00
P1-35
2A1Dh
00
PA-29
2200h
00
P2-00
2B00h
00
PB-00
2201h
00
P2-01
2B01h
00
PB-01
2202h
00
P2-02
2B02h
00
PB-02
2203h
00
P2-03
2B03h
00
PB-03
...
...
...
...
...
...
2246h
00
P2-70
2B33h
00
PB-51
2300h
00
P3-00
2C00h
00
PC-00
2301h
00
P3-01
2C01h
00
PC-01
2302h
00
P3-02
2C02h
00
PC-02
2303h
00
P3-03
2C03h
00
PC-03
...
...
...
...
...
...
2317
00
P3-23
2C46
00
PC-70
2400
00
P4-00
2F00h
00
PF -00
2401
00
P4-01
2F01h
00
PF -01
2402
00
P4-02
2F02h
00
PF -02
2403h
00
P4-03
2F03h
00
PF -03

15
Index
Sub-index
Parameter
Index
Sub-index
Parameter
...
...
...
...
...
...
241B
00
P4-27
2F08h
00
PF -08
2500h
00
P5-00
3000h
00
A0-00
2501h
00
P5-01
3001h
00
A0-01
2502h
00
P5-02
3002h
00
A0-02
2503h
00
P5-03
3003h
00
A0-03
...
...
...
...
...
...
2532
00
P5-50
3009
00
A0-09
2600h
00
P6-00
3100h
00
A1-00
2601h
00
P6-01
3101h
00
A1-01
2602h
00
P6-02
3102h
00
A1-02
2603h
00
P6-03
3103h
00
A1-03
...
...
...
...
...
...
2617h
00
P6-23
3115h
00
A1-21
2700h
00
P7-00
3200h
00
A2-00
2701h
00
P7-01
3201h
00
A2-01
2702h
00
P7-02
3202h
00
A2-02
2703h
00
P7-03
3203h
00
A2-03
...
...
...
...
...
2750h
00
P7-80
3240h
00
A2-64
2800h
00
P8-00
4000h
00
U0-00
2801h
00
P8-01
4001h
00
U0-01
2802h
00
P8-02
4002h
00
U0-02
2803h
00
P8-03
4003h
00
U0-03
...
...
...
...
...
...
2818h
00
P8-24
404Bh
00
U0-75
6.4 Independent Protocol
Index
Sub-index
Object Type
Name
Data Type
Access
PDO
5000
-
VAR
Command
UINT16
RW
YES
5010
-
VAR
Target speed
UINT16
RW
YES
5100
-
VAR
Status
UINT16
RO
YES
5110
-
VAR
Output frequency
UINT16
RO
YES
5200
-
RECORD
Communicate state
-
-
-
01
VAR
Number of frame lost
UINT16
RO
NO
02
VAR
Number of CRC errors
UINT16
RO
NO
03
VAR
Number of rejects
UINT16
RO
NO
04
VAR
Newest error cause
UINT16
RO
NO
05
VAR
Newest error index
UINT16
RO
NO

16
06
VAR
Cycle time
UINT16
RO
NO
Note: the 5200hex is used to observe the communication status between the expansion card and the frequency
converter and does not participate in the actual control.
6.5 CiA402 object(Driver profile area)
Index
Sub-index
Object Type
Name
Data Type
Access
PDO
603F
-
VAR
Error code
UINT16
RO
YES
6040
-
VAR
Control word
UINT16
RW
YES
6041
-
VAR
Status word
UINT16
RO
YES
6042
-
VAR
vl target velocity(0.01%)
INT16
RW
YES
6043
-
VAR
vl target demand
INT16
RO
YES
6044
-
VAR
vl target actual value
INT16
RO
YES
6046
-
RECORD
vl velocity acceleration
01
VAR
Lower limit frequency
UINT32
RW
NO
02
VAR
Upper limit frequency
UINT32
RW
NO
6048
-
RECORD
vl velocity acceleration
01
VAT
Maximum output frequency
UINT32
RO
NO
02
VAR
Acceleration time
UINT16
RW
NO
6049
-
RECORD
vl velocity deceleration
01
VAT
Maximum output frequency
UINT32
RO
NO
02
VAR
Deceleration time
UINT16
RW
NO
605B
-
VAR
Shutdown option code
UINT16
RW
NO
605C
-
VAR
Disable operation option code
UINT16
RW
NO
605E
-
VAR
Fault reaction option code
UINT16
RW
NO
6060
-
VAR
Modes of operation
INT8
RW
NO
6061
-
VAR
Modes of operation display
INT8
RO
NO
6064
-
VAR
Position actual value
INT32
RO
YES
606C
-
VAR
Velocity actual value(reserved)
INT32
RO
YES
6071
-
VAR
Target torque
INT16
RW
YES
6077
-
VAR
Torque actual value
INT16
RO
YES
607A
-
VAR
Target position(reserved)
INT32
RW
YES
6502
-
VAR
Supported drive modes
UINT32
RO
NO

17
7. State control
7.1 VFD status control
7.1.1 State machine
The operation state transition of VFD is shown in the figure below. Each box represents a state, and the serial
number 2-10,15 represents the state control command.
Note: quick stop command is not supported. If the master station executes quick stop command, it will execute the
command of conversion 9 (free shutdown).

18
7.1.2 Status description
Status
Description
Not ready to switch on
Power on the power supply and execute the initialization procedure
Switch on disabled
Initialization end
Ready to switch on
Waiting to enter the Switch On state, the motor is not excited
Switch on
VFD is ready, main loop power supply is normal
Operation enabled
VFD can be controlled and work normally
Fault reaction active
Occur the error and the cause of the fault needs to be determined
Fault
Fault status
7.1.3 Control command
The status is controlled by the bit of the control command (Controlword 6040 h). The combined control table is as
follows.
Command
Controlword
Transitions
Bit7
Bit3
Bit2
Bit 1
Bit 0
Fault
reset
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
Switch on
0
-
1
1
0
2,6,8
Switch on+
Enable operation
0
0
1
1
1
3
Disable voltage
-
1
1
1
1
3,4 (Automatic
conversion)
Quick stop
-
-
-
0
-
7,9,10
Disable operation
-
0
1
1
1
5
Enable operation
-
1
1
1
1
4
Fault reset
0->1
-
-
-
-
15
7.1.4 Status
The bit combination of statusword (6041 hex) indicates the working status of the equipment, as shown in the
following table:
Status
Bit 12
FC
Bit 9
RO
Bit 6
SOD
Bit5
QS
Bit 4
VE
Bit 3
F
Bit 2
OE
Bit 1
SO
Bit 0
RTSO
Not ready to switch
on
1
1
0
0
-
0
0
0
0
Switch on disable
1
1
1
-
-
0
0
0
0
Ready to switch on
1
1
0
1
-
0
0
0
1
Switched on
1
1
0
1
1
0
0
1
1
Operation enabled
1
1
0
1
1
0
1
1
1
Fault reaction active
1
1
0
1
-
1
1
1
1
Fault
1
1
0
1
-
1
0
0
0
Note:
(1)FC = Follow command; RO = Remote; SOD = Switch on disabled; QS = Quick stop; VE = Voltage enabled;
F = Fault; OE = Operation enabled; SO = Swicthed on; RTSO = Ready to switch on.
(2)"-" means no requirement, which may be 0 or 1. It does not participate in the judgment.

19
7.2 Operating mode
The operation mode supports speed mode and torque mode, which are set by parameter PF-00:
Speed mode: PF-00=0. Torque mode: PF-00=1.
The operation mode supported by the frequency converter is displayed by "Supported drive modes (6502 hex)".
This mode supports clock synchronization mode (DC sync) and periodic synchronization mode (SM sync).
Note: Mode switching can only be realized by setting variable frequency pf-00 parameters, which cannot be
modified during operation.
Setting "modes of operation (6060 hex)" cannot switch the operation mode. The default is 6060h=2.
7.2.1 Speed mode
Object
Name
Description
6040 h
Controlword
Command to control the frequency converter
6041 h
Statusword
Returned status word corresponding to the instruction
6042 h
vl target velocity
Speed command to frequency converter (0.01%)
6046 h
vl velocity min/max amount
Minimum and maximum allowable output speeds
6048 h
vl velocity acceleration
Set acceleration time
6049 h
vl velocity deceleration
Set deceleration time
6043 h
vl velocity demand
Set speed command
6044 h
vl velocity actual value
Actual output speed(0.1Hz)
Note: 6043h and 6044h give the same value.
7.2.2 Torque mode
Object
Name
Description
6071 h
Target torque
Target torque
6077 h
Torque actual value
Torque actual value

20
8. Independent protocol object
The independent protocol object enables the master station to directly operate the VFD remotely, and all
performance parameters directly use the parameters of the original frequency converter.
5000 hex
Command
Range: 0000 ~ FFFF hex
Unit:-
Default value: 0000 hex
Size: 2byte(U16)
Access: RW
PDO map: Possible
This object directly provides action instructions to the VFD.
Bit description is as follows:
Bit
Meaning
Detail
0
Forward
0:stop 1:Forward running
1
Reverse
0:stop 1:Reverse running
2-3
Reserved
4
Parking mode
0:Deceleration shutdown 1: Free shutdown
5-6
Reserved
7
Fault reset
1: Fault and warning clearing
8
Enable effective
0: Default CiA402 protocol
1: Independent protocol (this agreement)
9-15
Reserved
The instructions are as follows:
Forward running 0x0101 (decimal corresponding to 257)
Reverse running 0x0102 (decimal corresponding to 258)
Deceleration shutdown 0x0110 (decimal corresponding to 256)
Free shutdown 0x0100 (decimal corresponding to 272)
For example, 0x0101 is converted to binary 10000001, bit0 is 1, which means forward running, and bit8 is 1,
which means independent protocol.
5010 hex
Target Speed
Range: 0000 ~ FFFF hex
Unit: 0.01Hz
Default value: 0000 hex
Size: 2byte(U16)
Access: RW
PDO map: Possible
The object gives the output frequency of the frequency converter.
Refer to P0-13 and P0-14 for upper frequency limit and upper frequency source.
5100 hex
Status
Range:0000 ~ FFFF hex
Unit : -
Default value: 0000 hex
Size: 2byte(U16)
Access: RO
PDO map: Possible
The current state of the frequency converter.
Bit description is as follows:
Bit
Meaning
Detail
0
Operation / shutdown
0: Shutdown 1: Operation
1
Forward/Reverse
0: Forward 1: Reverse
2
Fault flag
0: Normal 1: Fault
3
Frequency arrival
1: Reach the set frequency
4-6
Reserved
Normally 0
7
Abnormal communication
0: normal 1: abnormal