EC-C+MC 11.1 Communication

Communication Manual
Motor Inverter
EC-C1200-450
Firmware version 11.1
Document version 1.2
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permission by Danfoss is expressly prohibited.
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EC-C1200-450 MOTOR INVERTER – Communication Manual
Table of Contents
1. Communication interfaces ................................................................................................................................... 3
2. Common communication settings ....................................................................................................................... 3
3. CANopen ............................................................................................................................................................... 3
3.1 Command (Rx) objects ................................................................................................................................. 4
3.2 Status (Tx) objects.......................................................................................................................................... 6
3.3 Command and status word definitions .................................................................................................. 8
3.4 User data objects ......................................................................................................................................... 15
3.5 CANopen parameters and signals .......................................................................................................... 16
3.6 PDO configuration example ..................................................................................................................... 17
3.7 Parameter and signal access .................................................................................................................... 20
3.8 TIME protocol ................................................................................................................................................ 21
4. SAE-J1939 ............................................................................................................................................................ 22
4.1 Signal scaling................................................................................................................................................. 22
4.2 Command (Rx) messages .......................................................................................................................... 23
4.2.1 CMD_SYS_0......................................................................................................................................... 23
4.2.2 CMD_SYS_1......................................................................................................................................... 24
4.2.3 CMD_SYS_2......................................................................................................................................... 25
4.2.4 CMD_MOT_0 ...................................................................................................................................... 26
4.2.5 CMD_MOT_1 ...................................................................................................................................... 27
4.2.6 CMD_MOT_2 ...................................................................................................................................... 28
4.2.7 CMD_MOT_3 ...................................................................................................................................... 29
4.2.8 CMD_MOT_4 ...................................................................................................................................... 30
4.2.9 CMD_MOT_5 ...................................................................................................................................... 31
4.2.10 CMD_MOT_6 .................................................................................................................................... 32
4.2.11 CMD_MOT_7 .................................................................................................................................... 33
4.2.12 CMD_MOT_8 .................................................................................................................................... 34
4.3 Status (Tx) messages ................................................................................................................................... 35
4.3.1 ST_SYS_1 ............................................................................................................................................. 35
4.3.2 ST_SYS_2 ............................................................................................................................................. 36
4.3.3 ST_SYS_5 ............................................................................................................................................. 37
4.3.4 ST_SYS_7 ............................................................................................................................................. 39
4.3.5 ST_SYS_8 ............................................................................................................................................. 40
4.3.6 ST_MOT_1 ........................................................................................................................................... 41
4.3.7 ST_MOT_2 ........................................................................................................................................... 42
4.3.8 ST_MOT_3 ........................................................................................................................................... 43
4.3.9 ST_MOT_4 ........................................................................................................................................... 45
4.3.10 ST_MOT_5 ......................................................................................................................................... 47
4.4 Time/Date Adjust ......................................................................................................................................... 48
4.5 J1939 communication parameters......................................................................................................... 49
4.6 J1939 signals ................................................................................................................................................. 50
2 | © Danfoss | October 2021
1. Communication interfaces
The Danfoss EC-C1200-450 can be ordered with one of the supported communication
protocols, which are at the moment
• CANopen
• SAE-J1939
Both of these use CAN as the physical transmission medium. The CANopen version does not
implement any standard communications profile. Instead, the messaging is done using
manufacturer-specific objects, which are detailed later in this document. Similarly, the J1939
variant implements a custom interface, as the standard-defined SPNs and PGNs are not
sufficient for the needs of an electric drive. This document describes the general CANopen
and J1939 interfaces. Customer-specific modifications are documented separately.
2. Common communication settings
This section details the settings common to all CAN-based communication protocols. There
are two CAN ports in the Danfoss EC-C1200-450 inverter, labeled A and B. Both ports can be
used simultaneously. All of the communication parameters listed in Table 1 require a reboot
for changes to take effect.
Table 1. Parameters common to all CAN communication protocols

Parameter group Parameter name Type Description
Communications Baud rate uint16 0 = 100 kbps

Port settings 1 = 125 kbps
CAN (A / B) 2 = 250 kbps
3 = 500 kbps
4 = 1000 kbps
Address uint16 Node address for the CAN port. The node address is used
by all CAN protocols that are configured to use the port.
If the port is used by CANopen, the address must be

smaller than 128. A greater value will result in an error on
device boot.
Enable I/O address offset bool By enabling this parameter, the user I/O pins can be used
to change the node address of the CAN port on device
boot.
I/O address uint16 User I/O pin used for the address configuration.
configuration (1 - 5) pin
The valid pin number range is 0 - 4, which corresponds to
the connector pinout as follows:
0 = USER IO 1, 1 = USER IO 2, etc.
I/O address int16 The value added to the CAN port address, if the selected
configuration (1 - 5) offset user I/O pin state is HIGH during boot.
The resulting address must be within the valid address

range or an error will ensue.
Note: You can enter hexadecimal values in PowerUSER by prefixing them with 0x.
3. CANopen
The Danfoss Editron products do not implement a CANopen standard device profile.
Instead, all communication is done with manufacturer-specific objects.
Supported features include the SDO and PDO protocols, PDO receive timeout, heartbeat
monitoring and generation, synchronous and asynchronous PDO traffic, among others. This
section lists the implemented CANopen objects for the EC-C1200-450 inverter.
© Danfoss | October 2021 | 3
3.1 Command (Rx) objects

This section lists the CANopen objects provided by EC-C1200-450 for user commands,
references etc. The maximum presentable value (for example, 0xFFFF for UNSIGNED16 and
0x7FFF for INTEGER16) can be used as “no action”, which means the previous received value
will be used. The second highest value (for example, 0xFFFE for UNSIGNED16 and 0x7FFE
for INTEGER16) is reserved. All other values are valid unless otherwise described. This applies
to all objects other than command words.
Table 2. CANopen system command objects

ID (hex) Name Data type Notes
2000 System command word UNSIGNED8 Bit definitions in Table 6
2008 System application command word UNSIGNED8 Bit definitions in Table 7
2020 User I/O digital outputs UNSIGNED16 2 bits per I/O pin
0 = Set digital output pin low
1 = Set digital output pin high
2 = Reserved
3 = No action
This feature must be enabled with a parameter.
Table 3. CANopen motor control command objects

2300 Control mode UNSIGNED8 0 = Speed

1 = Torque
2 = DC link voltage
4 = Power
7 = Frequency (scalar)
9 = Position
2301 Command word UNSIGNED8 Bit definitions in Table 8
2302 Motor application command word UNSIGNED8 Bit definitions in Table 9
2310 Speed reference INTEGER16 1 = 1 RPM
2311 Torque reference INTEGER16 1 = 1 Nm
2312 DC link voltage reference UNSIGNED16 1 = 0.1 V
2313 Power reference INTEGER16 1 = 0.1 kW
2314 Frequency reference INTEGER16 1 = 0.1 Hz
2315 Position reference, full revolutions INTEGER32 1 = 1 revolution
2316 Position reference, fractional UNSIGNED16 1 = 1/65533 revolution

revolution
2320 Speed limit, max INTEGER16 1 = 1 RPM
2321 Speed limit, min INTEGER16 1 = 1 RPM
2322 Torque limit, max INTEGER16 1 = 1 Nm
2323 Torque limit, min INTEGER16 1 = 1 Nm
2324 DC link overvoltage protection limit UNSIGNED16 1 = 0.1 V

Overvoltage control limit (controller or linear)
2325 DC link overvoltage protection, UNSIGNED16 1 = 0.1 V
linear limitation begin Linear generating power limitation begins
2326 DC link undervoltage protection, UNSIGNED16 1 = 0.1 V
linear limitation begin Linear motoring power limitation begins
2327 DC link undervoltage protection UNSIGNED16 1 = 0.1 V
limit Undervoltage control limit (controller or linear)
2328 Power limit, max INTEGER16 1 = 0.1 kW
Positive power is motoring
2329 Power limit, min INTEGER16 1 = 0.1 kW
Negative power is generating
232A DC link current limit, max INTEGER16 1=1A

Positive current is motoring
232B DC link current limit, min INTEGER16 1=1A
Negative current is generating
2330 Speed control proportional gain UNSIGNED16 1 = 0.001
2331 Speed control integration time UNSIGNED16 1 = 0.001 s
2332 Speed control reference ramp time UNSIGNED16 1 = 0.001 s

For a speed reference change equal to
motor nominal speed
2338 Torque rate limit time, motoring UNSIGNED16 1 = 0.001 s
For a nominal torque change, in all control modes
2339 Torque rate limit time, generating UNSIGNED16 1 = 0.001 s
For a nominal torque change, in all control modes
2340 DC link voltage reference ramp time UNSIGNED16 1 = 0.001 s
For a voltage reference change of 100 V
2350 Resolver identification request UNSIGNED8 0 = Off
1 = On
2351 Resolver identification method UNSIGNED8 0 = DC magnetization, simple
1 = DC magnetization, turning
2 = Pulses
3 = Rotating
4 = Injection
5 = Resolver configuration check
2353 Enable resolver feedback UNSIGNED8 0 = Disabled
1 = Enabled
2354 Resolver offset to be stored UNSIGNED16 1 = 0.001 pu
2355 Store resolver parameters UNSIGNED8 0 = Off

1 = On
Requires a rising edge. Stores the resolver parameters
(2353 and 2354) in the non-volatile memory. Note
that the motor must be stopped for the store to work.
2356 Enable resolver objects UNSIGNED8 0 = Disabled
1 = Enabled
Must be enabled for the objects related to resolver
identification (235x) to have an effect.
237F Speed/torque limit curve scaling UNSIGNED16 1 = 0.001
factor
Pmot
Undervoltage
control
Motoring ac ve
u_dc_ovc_begin u_dc_ovc_limit
u_dc_uvc_limit u_dc_uvc_begin UDC
Overvoltage
Genera ng
control
ac ve
Figure 1. DC link overvoltage and undervoltage control limits
3.2 Status (Tx) objects

This section lists the CANopen objects that the EC-C1200-450 uses for outputting status
information, measurements etc. The maximum presentable value (for example, 0xFFFF for
UNSIGNED16 and 0x7FFF for INTEGER16) is used to indicate that a value is not available. For
example, a disabled INTEGER16 temperature measurement will read as 0x7FFF. This applies
to all objects other than status words (including limit words, fault words etc.) unless
otherwise described.
Table 4. CANopen system status objects

2080 System status word UNSIGNED8 Bit definitions in Table 10
2087 System application active UNSIGNED8 Configurations 0 – 3

command configuration 255 = None
2090 Max junction temperature INTEGER16 Highest value of all powerswitch junction temperatures
1 = 1 °C
2091 Max external temperature INTEGER16 Highest value of all enabled external temperature
measurement channels
1 = 1 °C
2092 Min external temperature INTEGER16 Lowest value of all enabled external temperature
measurement channels
1 = 1 °C
2093 External temperature 1 INTEGER16 External temperature measurement, channel 1
1 = 1 °C
1 = 1 °C
1 = 1 °C
1 = 1 °C
1 = 1 °C
20A0 System fault word 1 UNSIGNED16 Bit definitions in Table 11
20A1 System fault word 2 UNSIGNED16 Bit definitions in Table 12
20B0.1 External temperature fault word UNSIGNED8 1 bit per channel

0 = Fault not active
1 = Fault active
20B0.2 External temperature warning UNSIGNED8 1 bit per channel
word 0 = Warning not active
1 = Warning active
20B1 External temperature sensor status UNSIGNED16 2 bits per channel
word 0 = OK or disabled
1 = Short circuit
2 = Open circuit
3 = Not available or not supported
20C0.1 Active fault ID UNSIGNED16 Fault code without instance
Rotating every second, if more than one active fault
Fault codes in Table 13
20C0.2 Active fault ID with instance UNSIGNED32 Instance (16 bits, MSW) + fault code (16 bits, LSW)
Rotating every second, if more than one active fault
Fault codes and instances in Table 13
20CA CANopen stack status word UNSIGNED8 Bit definitions in Table 14
20D0 User I/O digital inputs UNSIGNED16 2 bits per I/O pin
0 = Digital input pin low
1 = Digital input pin high
20D1.1 User I/O 1 input voltage UNSIGNED16 1 = 0.001 V
Table 5. CANopen motor control status objects

2380 Motor application status word UNSIGNED16 Bit definitions in Table 15
2381 Motor control status word UNSIGNED32 Bit definitions in Table 16
2382 Motor control limit word UNSIGNED16 Bit definitions in Table 17
2384 Active control mode UNSIGNED8 0 = Speed

1 = Torque
2 = DC link voltage
4 = Power
9 = Position
2387 Motor application active UNSIGNED8 Configurations 0 – 3
command configuration 255 = None
2390 Motor speed INTEGER16 1 = 1 RPM
2391 Motor torque INTEGER16 1 = 1 Nm
2392 DC link voltage UNSIGNED16 1 = 0.1 V
2393 Motor mechanical power INTEGER16 1 = 0.1 kW
2394 Motor phase RMS current UNSIGNED16 1=1A
2395 DC link current INTEGER16 1=1A

Positive towards motor
2396 Motor voltage INTEGER16 1 = 0.1 V
2397 Motor frequency INTEGER16 1 = 0.1 Hz
2398 Motor position, full revolutions INTEGER32 1 = 1 revolution
2399 Motor position, fractional UNSIGNED16 1 = 1/65533 revolution

revolution
23A0 Motor control fault word UNSIGNED16 Bit definitions in Table 18
23A8 Motor control limit error word UNSIGNED16 Bit definitions in Table 19
23B8 Resolver offset obtained UNSIGNED16 1 = 0.001 pu

Initialized to maximum value (65.535 pu)
23B9 Resolver offset used UNSIGNED16 1 = 0.001 pu
23BA Resolver speed feedback INTEGER16 1 = 1 RPM
23BB Resolver offset identification state UNSIGNED8 0 = Not active

1 = Running
2 = Done
23BC.1 Resolver rotation direction status UNSIGNED8 0 = Not identified
1 = Correct
2 = Incorrect
23BC.2 Resolver pole pair status UNSIGNED8 0 = Not identified
1 = Correct
2 = Incorrect
23BC.3 Resolver synchronization status UNSIGNED8 0 = Uninitialized
1 = Succeeded
2 = Failed
3.3 Command and status word definitions
Table 6. System command word bit definitions

Bit Name Description
0-1 Reserved
2-3 Fault reset 0 = Do nothing

1 = Reset active faults (rising edge required)
2 = Reserved
3 = No action
4-7 Reserved
Table 7. System application command word bit definitions

0-1 Request command 0 = Release system application control

1 = Request system application control
2 = Reserved
3 = No action
2-7 Reserved
Table 8. Motor control command word bit definitions

0-1 Run command 0 = Stop

1 = Run
2 = Reserved
3 = No action
Application parameters can be used to select whether the run command

is level sensitive or requires a rising edge to start.
2-7 Reserved
Table 9. Motor application command word bit definitions

0-1 Request command 0 = Release motor application control

1 = Request motor application control
2 = Reserved
3 = No action
2-7 Reserved
Table 10. System status word bit definitions

0-1 Running 0 = Control stopped

1 = Control running
2 = Reserved
3 = Not available
2-3 Fault active 0 = No faults
1 = Fault active
2 = Reserved
3 = Not available
4-5 Warning active 0 = No warnings
1 = Warning active
2 = Reserved
3 = Not available
6-7 Reserved
Table 11. System fault word 1 bit definitions

0 Emergency stop STOP 1 or STOP 2 inputs activated
1 Firmware fault Software internal malfunction. Indicates a problem in the inverter

firmware. Should not occur in a released software. Inspection by Danfoss
required if the problem persists.
2 Signal access fault Application has attempted to access a signal that does not exist or using
the wrong data type. Software application layer problem. Danfoss
assistance required.
3 CPU load too high Real-time execution of code not possible. Danfoss assistance required.
4 Communication timeout RPDO or heartbeat timeout
5 Isolation fault Not used
6 External temperature fault There are three Pt100/Pt1000 sensor inputs in the inverters, and a
parameterizable limit can be set for each input that causes a trip.
Typically used to monitor the temperature of the electric machine.
7 Reserved
8 Hardware fault Inverter hardware fault. May be a severe fault that requires inspection
before restarting the machine.
9 Reserved
10 DC link overvoltage May be either HW limit (not configurable) or SW limit (configurable)
11 DC link undervoltage
12-15 Application fault

0 External temperature sensor fault External temperature sensor short or open circuit
1-15 Reserved
Table 13. Fault codes and instances

Id Instance Name
0 No fault
1 2 – Inverter Generic hardware trip
2 2 – Inverter Overcurrent, phase A
3 2 – Inverter Overcurrent, phase B
4 2 – Inverter Overcurrent, phase C
5 2 – Inverter DC link overvoltage
6-8 Reserved
9 2 – Inverter Transistor bridge shoot-through
10 2 – Inverter Short circuit, phase A, top switch
11 2 – Inverter Short circuit, phase A, bottom switch
12 2 – Inverter Short circuit, phase B, top switch
13 2 – Inverter Short circuit, phase B, bottom switch
14 2 – Inverter Short circuit, phase C, top switch
15 2 – Inverter Short circuit, phase C, bottom switch
Id Instance Name
16 2 – Inverter Isolated side power supply
17 2 – Inverter Gate driver power supply, phase A, top switch
18 2 – Inverter Gate driver power supply, phase A, bottom switch
19 2 – Inverter Gate driver power supply, phase B, top switch
20 2 – Inverter Gate driver power supply, phase B, bottom switch
21 2 – Inverter Gate driver power supply, phase C, top switch
22 2 – Inverter Gate driver power supply, phase C, bottom switch
23-24 Reserved
25 2 – Inverter Stop signal 1
26 2 – Inverter Stop signal 2
27 0 – Motor control Overcurrent
28 2 – Inverter Overvoltage
29 2 – Inverter Undervoltage
30 0 – Motor control Overspeed
31 0 – Motor control PMSM DC link voltage safe speed exceeded
32-33 Reserved
34 0 – Motor control Measured IGBT temperature
35 Reserved
36 3 – Application Application fault
37 4 – System Watchdog error
38 4 – System Parameter system failure
39-42 4 – System Generic software fault
43 4 – System Dataobject invalid use
44-45 4 – System Generic software fault
46 4 – System Background starved
47 4 – System Power manager timeout
48 4 – System Communications timeout
49 4 – System Generic software fault
50 4 – System Initialization error
51 4 – System Power supply undervoltage
52-56 Reserved
57 3 – Application External temperature measurement
58 0 – Motor control Estimated power switch junction temperature
59 4 – System Event
60 2 – Inverter Enclosure voltage
61 0 – Motor control Overfrequency
62 0 – Motor control Earth fault
63 0 – Motor control Phase loss, open phase fault
Id Instance Name
64-85 Reserved
86 4 – System Fast parallel communication fault
87 4 – System Slave unit faulted
88-153 Reserved
154 0 – Motor control Overspeed above PMSM minimum flux limit
155 Reserved
156 4 – System Scheduler error: T0 missing
157 4 – System Scheduler error: Frame sequence error
158-162 Reserved
163 0 – Motor control Resolver error
164 Reserved
165 3 – Application External temperature sensor short circuit
166 3 – Application External temperature sensor open circuit
167 4 – System CANopen timeout, stack 1
168 4 – System CANopen timeout, stack 2
Table 14. CANopen stack status word bit definitions

0-1 Stack 1 signal status 0 = Signals invalid

1 = Signals valid
2 = RPDO timeout
2-3 Stack 1 heartbeat late status 0 = Heartbeats received OK or not in use
1 = Heartbeat late
4-5 Stack 2 signal status 0 = Signals invalid
1 = Signals valid
2 = RPDO timeout
6-7 Stack 2 heartbeat late status 0 = Heartbeats received OK or not in use
1 = Heartbeat late
Table 15. Motor application status word bit definitions

0 Running 0 = Motor control stopped

1 = Motor control running
1 Reserved
2 Fault active 0 = No faults

1 = Fault active
3 Reserved
4 Ready for run 0 = Control not ready for run

1 = Control ready for run
5 Reserved
6 Ready for reference 0 = Control not ready to fulfill reference

1 = Control ready to fulfill reference
7 Reserved
8 Resolver in use 0 = Sensorless control active

1 = Resolver feedback in use
9 Reserved
10 Resolver signal warning 0 = Resolver error not active or fault active

1 = Resolver error warning active
11-15 Reserved
Table 16. Motor control status word bit definitions

0 Running
1 Ready for run
2 Ready for reference
3 Speed control mode active
4 Torque control mode active
5 DC link voltage control mode active
6 Power control mode active
7 Scalar control active
8 Position control mode active
9 Speed at reference Speed control mode must be active
10 Torque at reference Torque control mode must be active
11 DC link voltage at reference DC link voltage control mode must be active
12 Position at reference Position control mode must be active
13 Field weakening active
14 IGBT current limit selected
15 Thermal current limit selected
16 Stator flux maximum limit active
17 Generating power
18 Diode regeneration
19 Stator flux minimum limit active
20 Motor thermal current limit selected Derating based on motor temperature
21 User current limit selected
22-31 Reserved
Table 17. Motor control limit word bit definitions

0 Current limit
1 Torque limit
2 Pull-out limit
3 Speed limit
4 Overvoltage control torque limit
5 Rush controller torque limit
6 PMSM UDC speed limit
7 Power limit
8 Undervoltage control torque limit
9 User torque limit
10 DC link current limit
11 Reserved
12 DC link voltage reference limit
13 PMSM minimum flux speed limit
14 Torque rate limit
15 Reserved
Table 18. Motor control fault word bit definitions

0 Hardware overcurrent Phase overcurrent

Trip level not configurable.
1 Short circuit Inverter bridge short circuit
Indicates a severe problem, investigate further before attempting to
restart the machine.
2 Reserved
3 Inverter bridge fault Inverter bridge hardware fault

Severe fault that requires inspection before restarting the machine.
4 Inverter overtemperature Inverter overtemperature
Either measured base plate temperature or estimated PN junction
temperature. Check cooling.
5 Software overcurrent Overcurrent
Software trip, level configurable
6 Overspeed Overspeed
May be caused by the overspeed trip limit, PMSM safe speed trip limit, or
minimum PM flux speed limit.
7 Overfrequency Output frequency over specified maximum
8 Phase loss Phase cable not connected
9 Earth fault Sum of phase currents not zero
10 Parallel communication fault Sync link transmission error or slave unit tripped
11 Resolver error
12-15 Reserved
Table 19. Motor control limit error word bit definitions

0 Speed limits invalid Limit order incorrect or both limits not set
1 Reserved
2 Torque limits invalid Limit order incorrect or both limits not set
3 Reserved
4 Power limits invalid Limit order incorrect or both limits not set
5 Reserved
6 DC link current limits invalid Limit order incorrect or both limits not set
7 Reserved
8 DC link overvoltage limits invalid Limit order incorrect or both limits not set
9 Reserved
10 DC link undervoltage limits invalid Limit order incorrect or both limits not set
11-15 Reserved
3.4 User data objects

The EC-C1200-450 inverter includes numerous CANopen objects for custom user purposes.
There are 10 objects of each data type (N = 1 … 10) and they can be accessed with SDO and
PDO protocols. The objects are listed in Table 20. By default, the objects don’t have any
function, but the user I/O to signal mapping feature can be used to read or write the signals
that the objects are connected to. The signals for each stack are in groups 10.2.2 and 10.3.2.
The corresponding internal address indices for each stack are 2200 and 2201. For more
information how to use the I/O mapping feature, refer to the user I/O configuration manual.
Table 20. CANopen user data objects

ID (hex) Name Data type Signal internal address subindex
2200.N User data boolean N BOOLEAN N
2201.N User data float N REAL32 10 + N
2202.N User data uint16 N UNSIGNED16 20 + N
2203.N User data int16 N INTEGER16 30 + N
It is also possible to copy the user data object values between the CANopen stacks, which
allows the EC-C1200-450 to be used as a gateway between CAN networks. For example, a
device connected to the CAN A port of the EC-C1200-450 can write a value to a user data
object which will be copied to the other CANopen stack and will then be readable for
another device connected to the CAN B port. The configuration parameters are in groups
1.50.10 and 1.50.11. The copying feature must be enabled and the bit mask parameters for
each data type define which objects will be copied to the other stack. See section CANopen
parameters and signals to find out which CAN port each CANopen stack is connected to.
3.5 CANopen parameters and signals

CANopen-related parameters and signals are located in groups 10.2 CANopen, stack 1 and
10.3 CANopen, stack 2. This section covers all other parameters except PDO (Process Data
Object) configuration, which is documented with an example in section PDO configuration
example.
Table 21. CANopen communication parameters

Parameter group Parameter name Type Unit Description
Communications CAN port uint16 The CAN channel that the CANopen protocol uses.
CANopen, stack N 0 = CAN A
General settings 1 = CAN B
Reboot needed for a change to take effect.

This parameter is available only for stack 1.
Stack 2 will always use the other port.
RPDO timeout severity uint16 0 = No action (timeout disabled)
1 = Note
2 = Warning
3 = Failure (the inverter will trip)
Heartbeat late severity uint16 0 = No action (timeout disabled)
1 = Note
2 = Warning
Table 22. CANopen status signals

Signal group Signal name Type Unit Description
Communications RPDO signal status uint16 0 = Signals invalid (some or all RPDOs have never
CANopen, stack N been received)
Statuses 1 = Signals valid
2 = RPDO timeout
RPDO timeout status bool 0 = No timeout (or all RPDOs never received)
1 = RPDO receive timeout
Heartbeat late status bool 0 = Heartbeats received OK or not in use
1 = Heartbeat late
Heartbeat consumer and RPDO timeout can be configured to generate a protection event.
This is done with the parameters found in the parameter group 10.2.1 General settings.
The rest of the parameter groups under 10.2 CANopen, stack 1 and 10.3 CANopen, stack 2
contain parameters that are also accessible as SDOs (Service Data Object). The group 10.2.2
Heartbeat and sync is documented in the following table; the remaining groups are related
to PDO (Process Data Object) configuration, which is covered by the example in section PDO
configuration example.
Table 23. CANopen configuration parameters

Communications SYNC object ID uint32 Sync message ID. By default 0x80.

CANopen, stack N
Heartbeat and sync Restore parameter uint32 Not supported.
defaults
Consumer heartbeat 1 uint32 Consumer heartbeat configuration #1.
Value of the consumer heartbeat configuration

is interpreted as 0x00NNTTTT, where NN is the
node ID of the heartbeat sender and TTTT is
the timeout in milliseconds (0 to 65535). Set
the value of the parameter to 0x00000000 to
disable the monitoring.
Producer heartbeat uint16 ms Producer heartbeat time.

period
3.6 PDO configuration example

PDOs (Process Data Objects) can be configured by the CANopen master using the SDO
protocol, as described in the standard. If desired, the configuration can also be done with
PowerUSER through the parameter interface. This is rather cumbersome, so using the
CANopen master device for the configuration is recommended. This section gives an
example of how to configure transmit and receive PDOs for EC-C1200-450 as well as set
some of the other CANopen parameters.
Let the example configuration be the following.
 Device address 10h
 Use stack 1 in CAN port A
 Heartbeat producer enabled with heartbeat time 500 ms
 One transmit (status) PDO with the following properties
o ID 390h, event-driven transmission with period 10 ms
o Contains actual speed [RPM], actual torque [Nm] and system status word
 One receive (command) PDO with the following properties
o ID 410h, RPDO timeout 50 ms
o Contains speed reference [RPM], system command word and motor control
command word
How to do the setup:

1. Set the device address. Parameter 10.1.1.2 Address = 16 (10h)
2. Set the CAN port used by the CANopen protocol. Parameter 10.2.1.1 CAN port = 0 (CAN
A).
3. Check that the speed is correct. Parameter 10.1.1.1 Baud rate.
4. Set the producer heartbeat time to 500 (ms). SDO object 1017h also accessible as
parameter 10.2.2.11 Producer heartbeat period.
5. Configure the TPDO message number 1. The configuration is done using the SDO object
1800h, which can be found in the parameter group 10.2.5 Transmit PDO configuration.
The subindices are the following.
Table 24. SDO object 1800h subindices

Subindex Description Value in the example
1 COB-ID 912 (390h)
If bit 31 is 1, the PDO is disabled.

2 Transmission type 254
0 = acyclic synchronous Note that 255 will not do anything as the device
1-240 = cyclic synchronous does not implement a CANopen profile. 254 is timer-
241-251 = reserved driven, which is what we want in the example.
252 = synchronous RTR only
253 = asynchronous RTR only Also note that mode 0 is not implemented.
254 = asynchronous event-driven, manufacturer
specific event
255 = asynchronous event-driven, profile-defined
event
3 Inhibit time 0
Time that needs to be elapsed between successive

transmissions of the same PDO. Not relevant for timer-
driven transmissions.
5 Event timer 10
This is the period of the message in milliseconds.

6 Sync start value 0
Time delay between a received sync pulse and

synchronous TPDO sending. Used to even bus load in
a system where multiple CANopen producers send
frames synced to a sync pulse. Not relevant for timer-
driven transmissions.
6. Check that the rest of the TPDOs are disabled (have COB-ID with bit 31 set).
7. Create the PDO mappings for TPDO message 1. This is done with object 1A00h and
parameters in group 10.2.6 Transmit PDO object mappings. Object subindex 0 is the
number of mapped objects in the PDO, indices 1 to 12 are the object mappings. As can
be seen, there can be up to 12 mapped objects per PDO in the EC-C1200-450 inverter.
Each mapping parameter has the form AAAABBCC, where AAAA is the index of the
mapped object, BB is the subindex, and CC is the size in bits. All three are in hexadecimal.
The maximum number of bits in the PDO is 64. The values in this example are the
following.
Table 25. SDO object 1A00h subindices

0 Number of mapped PDO objects 3 (speed, torque, system status word)
1 PDO mapping for the 1st application object 0x23900010 (object 2390h, subindex 0, size 16 bits)
2 PDO mapping for the 2nd application object 0x23910010 (object 2391h, subindex 0, size 16 bits)
3 PDO mapping for the 3rd application object 0x20800008 (object 2080h, subindex 0, size 8 bits)
4 PDO mapping for the 4th application object 0 (not used)
8. Configure the RPDO number 1. The configuration is done using the SDO object 1400h,
which can be found in the parameter group 10.2.3 Receive PDO configuration. The
subindices are the following.
Table 26 SDO object 1400h subindices

1 COB-ID 1040 (410h)
If bit 31 is 1, the PDO is disabled.

5 Event timer 50
For RPDOs, this is the RPDO receive timeout in

milliseconds.
9. Check that the rest of the RPDOs are disabled (have COB-ID with bit 31 set).
10. Create the PDO mappings for the RPDO with object 1600h and parameters in group
10.2.4 Receive PDO object mappings. See step 7 for further information.

0 Number of mapped PDO objects 3 (speed reference, system command word, motor
control command word)
1 PDO mapping for the 1st application object 0x23100010 (object 2310h, subindex 0, size 16 bits)
2 PDO mapping for the 2nd application object 0x20000008 (object 2000h, subindex 0, size 8 bits)
3 PDO mapping for the 3rd application object 0x23010008 (object 2301h, subindex 0, size 8 bits)
After rebooting, the device is ready. The CANopen communications can now be started with
the NMT (network management) start command. For device 10h, the message would be
000h 01 10 (standard CAN frame, header 000h, DLC 2, data 01 10).
3.7 Parameter and signal access

The SDO object 2100h can be used for accessing the parameters and signals of the EC-
C1200-450 inverter. The object subindices required to perform operations are listed in Table
28. The parameter/signal identifier is specified in the internal group.index format. To
discover the required information, select the desired parameter/signal in PowerUSER and
open the editor which shows the internal address and parameter/signal type. For example,
for the signal 2.1.3 DC link voltage these are 12001.1006 and FLOAT. To read the value, the
following series of SDO messages must be sent:
1. Write 2100.3 = 12001
2. Write 2100.4 = 1006
3. Write 2100.2 = 0x00000501
4. Read 2100.1 (optional, to see if the operation was successful)
5. Read 2100.9
Similarly, to write the parameter 2.5.5 Resolver pole pair count, the following SDO messages
must be sent:
1. Write 2100.3 = 7001
2. Write 2100.4 = 300
3. Write 2100.6 = 8
4. Write 2100.2 = 0x00000404
5. Read 2100.1 (optional, to see if the operation was successful)

Subindex Name Data type Notes
1 Status of last operation UNSIGNED32 0 = Failure

1 = Success
2 = Busy, try again
3 = Invalid parameter/signal
4 = Method mismatch
5 = Type mismatch
6 = Value out of range
7 = Access denied
2 Operation command UNSIGNED32 0x0000TTPP
PP operation
0 = No operation
1 = Read signal
2 = Write signal
3 = Read parameter
4 = Write parameter
TT parameter/signal type
1 = 32-bit unsigned integer
2 = 32-bit signed integer
3 = 16-bit unsigned integer
4 = 16-bit signed integer
5 = Floating-point
6 = Boolean
3 Parameter/signal group UNSIGNED16
4 Parameter/signal index UNSIGNED16
5 16-bit unsigned value UNSIGNED16
6 16-bit signed value INTEGER16
7 32-bit unsigned value UNSIGNED32

Value to be written or the last read value
8 32-bit signed value INTEGER32
9 32-bit floating-point value REAL32
10 Boolean value BOOLEAN
3.8 TIME protocol

The internal time of the EC-C1200-450 inverter can be set by using the TIME protocol. This
can be useful as the time is shown in logs, but it is reset to zero on reboot. TIME protocol
uses a 6-byte message with the COB-ID 100h. The first 4 bytes contain the time of day as
milliseconds since midnight. The last 2 bytes contain the calendar date as the number of
days since January 1st, 1984. For example, on January 1st, 2020 at noon the time is 43,200,000
(0x02932E00) milliseconds since midnight and 13,149 (0x335D) days since January 1st, 1984.
Therefore, the data that needs to be sent is 00 2E 93 02 5D 33. Attempts to set the time to
before year 2000 or after year 2035 will be ignored.
4. SAE-J1939
The EC-C1200-450 inverter implements SAE-J1939 compatible communications. The

inverter does not implement standard SPNs (Suspect Parameter Number), and, therefore,
does not implement standard PGNs (Parameter Group Number). Rather, there is a set of
custom messages that the inverter sends and listens to. The PGNs for these messages should
be selected from the manufacturer-specific PGN area (broadcast messages
0xFF00…0xFFFF; non-broadcast 0xEFnn, where nn is the destination address). The PGN
values and other message parameters given in the following message descriptions are the
defaults; they can be changed through the parameter system, as described in later sections.
The PDU ID is a unique identifier which connects the other message parameters to the
specific message content.
The default addresses are
 EC-C1200-450 = 0xFD
 Management computer = 0x27
All command messages are parameterized to be sent by the management computer
(source address 0x27). Changing the device address and the source address of the
command (input) messages is described in sections Common communication settings and
J1939 communication parameters, respectively.
4.1 Signal scaling
Data in J1939 messages is transmitted as unsigned integers and requires scaling when
presenting signals in SI values. An offset is applied to allow for negative values and a scaling
factor is used to present fractional values. The offset used for each signal is the same as the
minimum value, given in the tables in the following sections.
For example, the minimum value of a speed signal is -16064 (RPM) and the factor is 0.5
(RPM/bit). With these values, an example value of 2000 (RPM) can be converted to raw CAN
data with the equation
value − min 2000 + 16064
data = = = 36128
factor 0.5
Conversely, the raw data 36128 can be converted back to SI value with the equation
value = data × factor + min = 36128 × 0.5 − 16064 = 2000
As per the J1939 standard, there is a defined range for valid data. For example, for 16-bit
signals the maximum valid data is 0xFAFF. The maximum presentable data (for example, for
16-bits signals 0xFFFF) can be used as “no action” for command signals, which means the
previous valid value will be used. Similarly, status signals use the maximum presentable data
to indicate that the value is not available. For example, a disabled 8-bit temperature
measurement will read as 0xFF.
4.2 Command (Rx) messages

Command messages can be used to control the EC-C1200-450 inverter. The communication
interface includes system-level messages and motor control related messages.
4.2.1 CMD_SYS_0
This message can be used for requesting system application control. Refer to the application
manual for further information about application configuration and use. The timeout for
this message is disabled by default but can be enabled with the parameters in group 10.4.3
Receive configuration. This means the request command works but is optional and does not
affect the bus timeout condition.
PGN: 65296 (0xFF10)

Priority: 3
Timeout: 0 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 1100
7 6 5 4 3 2 1 0
cmd_sys_request
0 7 6 5 4 3 2 msb 1 lsb 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56
Figure 2. CMD_SYS_0 message layout
Table 29. CMD_SYS_0 message contents

Name Bits Factor Min Max Unit Description
cmd_sys_request 2 System application request command

Keep ON for as long as the application control is required.
0 = Off
1 = On
2 = Reserved
3 = No action
4.2.2 CMD_SYS_1
This message can be used for clearing active faults.
PGN: 65297 (0xFF11)

Priority: 3
Timeout: 50 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 1101
7 6 5 4 3 2 1 0
cmd_sys_fault_reset
0 7 6 5 4 msb 3 lsb 2 1 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

cmd_sys_fault_reset 2 Clear active faults. Requires a rising edge.

0 = Off
1 = On
2 = Reserved
3 = No action
4.2.3 CMD_SYS_2
This message can be used to control the user I/O pins when they are configured as digital
outputs. This message is disabled by default but can be enabled with the parameters in
group 10.4.3 Receive configuration. The pin control feature must also be enabled with a
parameter.
PGN: 65298 (0xFF12)

Priority: 3
Timeout: 0 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 1102
7 6 5 4 3 2 1 0
cmd_sys_digital_output_4 cmd_sys_digital_output_3 cmd_sys_digital_output_2 cmd_sys_digital_output_1
0 msb 7 lsb 6 msb 5 lsb 4 msb 3 lsb 2 msb 1 lsb 0
cmd_sys_digital_output_5
1 15 14 13 12 11 10 msb 9 lsb 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

cmd_sys_digital_output_1 2 Set digital output pin 1

0 = Low
1 = High
2 = Reserved
3 = No action
0 = Low
1 = High
2 = Reserved
3 = No action
0 = Low
1 = High
2 = Reserved
3 = No action
0 = Low
1 = High
2 = Reserved
3 = No action
0 = Low
1 = High
2 = Reserved
3 = No action
4.2.4 CMD_MOT_0
This message can be used to request control of the motor control application. Refer to the
application manual for further information about application configuration and use. The
timeout for this message is disabled by default but can be enabled with the parameters in
group 10.4.3 Receive configuration. This means the request command works but is optional
and does not affect the bus timeout condition.
PGN: 65312 (0xFF20)

Priority: 3
Timeout: 0 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2100
7 6 5 4 3 2 1 0
cmd_mot_request
0 7 6 5 4 3 2 msb 1 lsb 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56
Figure 5. CMD_MOT_0 message layout
Table 32. CMD_MOT_0 message contents

cmd_mot_request 2 Motor control application request command

Keep ON for as long as the application control is required.
0 = Off
1 = On
2 = Reserved
3 = No action
4.2.5 CMD_MOT_1
This message contains the motor control run command and control mode.
PGN: 65313 (0xFF21)

Priority: 3
Timeout: 50 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2101
7 6 5 4 3 2 1 0
cmd_mot_run cmd_mot_ctrl_mode
0 7 6 msb 5 lsb 4 msb 3 2 1 lsb 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

cmd_mot_ctrl_mode 4 Control mode

0 = Speed
1 = Torque
2 = DC link voltage
4 = Power
9 = Position
cmd_mot_run 2 Motor run command
Keep ON for as long as the motor is required to run.
Application parameters can be used to select whether the run
command is level sensitive or requires a rising edge to start.
0 = Off
1 = On
2 = Reserved
3 = No action
4.2.6 CMD_MOT_2
This message contains some of the supported references. The control mode can be changed
without stopping the motor (see message CMD_MOT_1 for control modes). Each of the
control modes uses a separate reference given in this message and CMD_MOT_3.
PGN: 65314 (0xFF22)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2102
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_n_ref
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_t_ref
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
cmd_mot_u_dc_ref
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
cmd_mot_p_ref
7 msb 63 62 61 60 59 58 57 56

cmd_mot_n_ref 16 0.5 -16064 16063.5 RPM Speed reference
cmd_mot_t_ref 16 1 -32000 32255 Nm Torque reference
cmd_mot_u_dc_ref 16 0.05 0 3212.75 V DC link voltage reference
cmd_mot_p_ref 16 0.125 -4016 4015.875 kW Motor power reference
4.2.7 CMD_MOT_3
This message contains some of the supported references. The control mode can be changed
without stopping the motor (see message CMD_MOT_1 for control modes). Each of the
control modes uses a separate reference given in this message and CMD_MOT_2. The
position reference is presented in two parts: full revolutions and the fractional revolution.
The total position reference is these parts combined.
PGN: 65315 (0xFF23)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2103
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_f_ref
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
cmd_mot_pos_ref_full
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
cmd_mot_pos_ref_frac
7 msb 63 62 61 60 59 58 57 56

cmd_mot_f_ref 16 0.03125 -1004 1003.96875 Hz Frequency reference
cmd_mot_pos_ref_full 32 1 -2147483648 2063597567 Position reference, full revolutions
cmd_mot_pos_ref_frac 16 1/64255 0 1 Position reference, fractional revolution
4.2.8 CMD_MOT_4
This message contains speed and torque limits. Min and max limits can both be positive or
negative, but for the configuration to be sensible, they must satisfy max >= min. So, for
example n_max = 1000 RPM and n_min = -1000 RPM is a valid configuration, as is also
n_max = 2000 RPM and n_min = 800 RPM. However, n_min = 1000 RPM and n_max = -1000
RPM is not valid. The same applies for the torque limits. Refer to the application manual for
further information about limit configurations.
PGN: 65316 (0xFF24)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2104
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_lim_n_max
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_lim_n_min
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
cmd_mot_lim_t_max
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
cmd_mot_lim_t_min
7 msb 63 62 61 60 59 58 57 56

cmd_mot_lim_n_max 16 0.5 -16064 16063.5 RPM Motor speed limit, maximum
cmd_mot_lim_n_min 16 0.5 -16064 16063.5 RPM Motor speed limit, minimum
cmd_mot_lim_t_max 16 1 -32000 32255 Nm Motor torque limit, maximum
cmd_mot_lim_t_min 16 1 -32000 32255 Nm Motor torque limit, minimum
4.2.9 CMD_MOT_5
This message contains DC link voltage limits. Voltage limitation can be done with either a
controller-type limitation or a linear ramp which reduces power linearly from 100 % to 0 %.
PGN: 65317 (0xFF25)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2105
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_lim_u_dc_ovc_limit
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_lim_u_dc_ovc_begin
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
cmd_mot_lim_u_dc_uvc_begin
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
cmd_mot_lim_u_dc_uvc_limit
7 msb 63 62 61 60 59 58 57 56

cmd_mot_lim_u_dc_ovc_limit 16 0.05 0 3212.75 V DC link overvoltage control limit

(controller or linear)
cmd_mot_lim_u_dc_ovc_begin 16 0.05 0 3212.75 V DC link overvoltage control,
linear generating power limitation begins
cmd_mot_lim_u_dc_uvc_begin 16 0.05 0 3212.75 V DC link undervoltage control,
linear motoring power limitation begins
cmd_mot_lim_u_dc_uvc_limit 16 0.05 0 3212.75 V DC link undervoltage control limit
(controller or linear)
Pmot
Undervoltage
control
Motoring ac ve
u_dc_ovc_begin u_dc_ovc_limit
u_dc_uvc_limit u_dc_uvc_begin UDC
Overvoltage
Genera ng
control
ac ve
Figure 11. DC link overvoltage and undervoltage control limits
4.2.10 CMD_MOT_6
This message contains the motor mechanical power limits and DC link current limits.
PGN: 65318 (0xFF26)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2106
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_lim_p_max
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_lim_p_min
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
cmd_mot_lim_i_dc_max
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
cmd_mot_lim_i_dc_min
7 msb 63 62 61 60 59 58 57 56

cmd_mot_lim_p_max 16 0.125 -4016 4015.875 kW Motor mechanical power limit, maximum

Positive power is motoring
cmd_mot_lim_p_min 16 0.125 -4016 4015.875 kW Motor mechanical power limit, minimum
Negative power is generating
cmd_mot_lim_i_dc_max 16 0.05 -1600 1612.75 A DC link current limit, maximum
Positive current is motoring
cmd_mot_lim_i_dc_min 16 0.05 -1600 1612.75 A DC link current limit, minimum
Negative current is generating
4.2.11 CMD_MOT_7
This message contains speed control parameters (gain, integral time and speed reference
ramp time).
PGN: 65319 (0xFF27)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2107
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_speed_control_kp
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_speed_control_
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
cmd_mot_speed_ref_ramp_ me
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

cmd_mot_speed_control_kp 16 0.001 0 64.255 Speed control gain
cmd_mot_speed_control_ti 16 0.001 0 64.255 s Speed control integral time
cmd_mot_speed_ref_ramp_time 16 0.001 0 64.255 s Speed reference ramp time

Seconds for a change equal to nominal speed
4.2.12 CMD_MOT_8
This message contains torque rate limit times. The limited torque rate affects all control
modes.
PGN: 65320 (0xFF28)

Priority: 3
Timeout: 500 ms
Source: 39 (0x27)
DLC: 8
PDU ID: 2108
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
cmd_mot_torque_rate_mot_side
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
cmd_mot_torque_rate_gen_side
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

cmd_mot_torque_rate_mot_side 16 0.001 0 64.255 s Torque rate limit time, motoring

Seconds for a nominal torque change
cmd_mot_torque_rate_gen_side 16 0.001 0 64.255 s Torque rate limit time, generating
Seconds for a nominal torque change
4.3 Status (Tx) messages

With status messages the EC-C1200-450 inverter reports information about its operation,
such as running status, active faults or measured values. Some messages provide system-
level information and others are related to motor control.
4.3.1 ST_SYS_1
This message contains system status information. In the case of the EC-C1200-450 inverter,
which runs a single motor, the system run status is identical to the motor run status in
message ST_MOT_2. The same applies for the fault status: in the case of EC-C1200-450, it is
identical to the one found in ST_MOT_2.
PGN: 65409 (0xFF81)

Priority: 3
Period: 10 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 1151
7 6 5 4 3 2 1 0
st_sys_warning st_sys_fault st_sys_run
0 7 6 msb 5 lsb 4 msb 3 lsb 2 msb 1 lsb 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56
Figure 15. ST_SYS_1 message layout
Table 41. ST_SYS_1 message contents

st_sys_run 2 Run status

0 = Off
1 = On
2 = Error
3 = Not available
st_sys_fault 2 Fault status
0 = Off
1 = On
2 = Error
3 = Not available
st_sys_warning 2 Warning status
0 = Off
1 = On
2 = Error
3 = Not available
4.3.2 ST_SYS_2
This message contains the highest power switch junction temperature (of all power
electronic components in the unit). In the case of EC-C1200-450, this means the IGBTs and
diodes of the main bridge. Additionally, the message contains external Pt100/Pt1000
measurements and their minimum and maximum. The number of external temperature
channels depends on the hardware; there may be fewer than five. Non-existent or not
enabled channels are sent as 0xFF (255). Minimum and maximum are of those channels that
have valid measurement values.
PGN: 65410 (0xFF82)

Priority: 3
Period: 100 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 1152
7 6 5 4 3 2 1 0
st_sys_temp_junc_max
0 msb 7 6 5 4 3 2 1 lsb 0
st_sys_temp_ext_max
1 msb 15 14 13 12 11 10 9 lsb 8
st_sys_temp_ext_min
2 msb 23 22 21 20 19 18 17 lsb 16
st_sys_temp_ext_1
3 msb 31 30 29 28 27 26 25 lsb 24
st_sys_temp_ext_2
4 msb 39 38 37 36 35 34 33 lsb 32
st_sys_temp_ext_3
5 msb 47 46 45 44 43 42 41 lsb 40
st_sys_temp_ext_4
6 msb 55 54 53 52 51 50 49 lsb 48
st_sys_temp_ext_5
7 msb 63 62 61 60 59 58 57 lsb 56

st_sys_temp_junc_max 8 1 -40 210 °C Power switch junction temperature (momentary highest of

all power switches of the unit)
st_sys_temp_ext_max 8 1 -40 210 °C Highest of enabled external Pt100/Pt1000 measurements
st_sys_temp_ext_min 8 1 -40 210 °C Lowest of enabled external Pt100/Pt1000 measurements
st_sys_temp_ext_1 8 1 -40 210 °C External Pt100/Pt1000 measurement, channel 1
4.3.3 ST_SYS_5
This message contains the system fault words. Each bit of a fault word corresponds to a
specific fault and is 1 if the fault is on, 0 if it is off.
PGN: 65413 (0xFF85)

Priority: 3
Period: 1000 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 1155
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_sys_fault_word_1
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
st_sys_fault_word_2
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

st_sys_fault_word_1 16 System fault word 1

Bit definitions in Table 44
st_sys_fault_word_2 16 System fault word 2

0 Emergency stop STOP 1 or STOP 2 inputs activated
1 Firmware fault Software internal malfunction.

Indicates a problem in the inverter firmware. Should not occur in a
released software. Inspection by Danfoss required if the problem
persists.
2 Signal access fault Application has attempted to access a signal that does not exist or using
the wrong data type. Software application layer problem. Danfoss
assistance required.
3 CPU load too high Real-time execution of code not possible. Danfoss assistance required.
4 Communication timeout Rx message timeout
5 Isolation fault Not used
6 External temperature fault There are three Pt100/Pt1000 sensor inputs in the inverters, and a
parameterizable limit can be set for each input that causes a trip.
Typically used to monitor the temperature of the electric machine.
7 Reserved
8 Hardware fault Inverter hardware fault.

May be a severe fault that requires inspection before restarting the
machine.
9 Reserved
10 DC link overvoltage May be either HW limit (not configurable) or SW limit (configurable).
11 DC link undervoltage
12-15 Application fault

0 External temperature sensor fault External temperature sensor short or open circuit
1-15 Reserved
4.3.4 ST_SYS_7
This message contains the states of the user I/O pins when they are configured as digital
inputs. This message is disabled by default but can be enabled with the parameters in group
10.4.2 Transmit configuration.
PGN: 65415 (0xFF87)

Priority: 3
Period: 0 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 1157
7 6 5 4 3 2 1 0
st_sys_digital_input_4 st_sys_digital_input_3 st_sys_digital_input_2 st_sys_digital_input_1
st_sys_digital_input_5
1 15 14 13 12 11 10 msb 9 lsb 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

st_sys_digital_input_1 2 Digital input pin 1 state

0 = Low
1 = High
2 = Error
3 = Not available
0 = Low
1 = High
2 = Error
3 = Not available
0 = Low
1 = High
2 = Error
3 = Not available
0 = Low
1 = High
2 = Error
3 = Not available
0 = Low
1 = High
2 = Error
3 = Not available
4.3.5 ST_SYS_8
This message contains the voltages of the user I/O pins which support the measurement.
This message is disabled by default but can be enabled with the parameters in group 10.4.2
Transmit configuration.
PGN: 65416 (0xFF88)

Priority: 3
Period: 0 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 1158
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_sys_analog_input_1
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
7 msb 63 62 61 60 59 58 57 56

st_sys_analog_input_1 16 0.001 0 64.255 V Input voltage of the user I/O pin 1
4.3.6 ST_MOT_1
This message contains information specific to motor control: actual motor speed, torque,
power and actual DC link voltage.
PGN: 65425 (0xFF91)

Priority: 3
Period: 10 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 2151
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_mot_n
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
st_mot_t
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
st_mot_u_dc
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
st_mot_p_axis
7 msb 63 62 61 60 59 58 57 56
Figure 20. ST_MOT_1 message layout
Table 48. ST_MOT_1 message contents

st_mot_n 16 0.5 -16064 16063.5 RPM Actual motor speed
st_mot_t 16 1 -32000 32255 Nm Actual motor torque
st_mot_u_dc 16 0.05 0 3212.75 V Actual DC link voltage
st_mot_p_axis 16 0.125 -4016 4015.875 kW Actual motor mechanical power
4.3.7 ST_MOT_2
This message contains measured currents and motor control status information.
PGN: 65426 (0xFF92)

Priority: 3
Period: 100 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 2152
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_mot_i_ac_rms
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
st_mot_i_dc
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
5 47 46 45 44 43 42 41 40
st_mot_ready_for_ref st_mot_ready_for_run st_mot_fault st_mot_run
st_mot_resolver_signal_warning st_mot_resolver_in_use
7 63 62 61 60 msb 59 lsb 58 msb 57 lsb 56

st_mot_i_ac_rms 16 0.05 0 3212.75 A Motor phase RMS current
st_mot_i_dc 16 0.05 -1600 1612.75 A DC link current

Positive current is towards motor
st_mot_run 2 Motor run status
0 = Off
1 = On
2 = Error
3 = Not available
st_mot_fault 2 Motor fault status
0 = Off
1 = On
2 = Error
3 = Not available
st_mot_ready_for_run 2 Motor ready for run status
0 = Off
1 = On
2 = Error
3 = Not available
st_mot_ready_for_ref 2 Motor ready for reference status
0 = Off
1 = On
2 = Error
3 = Not available
st_mot_resolver_in_use 2 Resolver in use status
0 = Off (sensorless control active)
1 = On
2 = Error
3 = Not available
st_mot_resolver_signal_warning 2 Resolver signal warning status
0 = Off (resolver error fault may be active)
1 = On
2 = Error
3 = Not available
4.3.8 ST_MOT_3
This message contains motor control status and limit words which can be used to observe
the operation and whether it is being limited. Each bit in a word indicates whether the
corresponding status or limit is active.
PGN: 65427 (0xFF93)

Priority: 3
Period: 1000 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 2153
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
1 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
st_mot_status_word
3 msb 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
st_mot_limit_word
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

st_mot_status_word 32 Motor control status word

st_mot_limit_word 16 Motor control limit word
Table 51. Motor control status word bit definitions

0 Running
1 Ready for run
2 Ready for reference
3 Speed control mode active
4 Torque control mode active
5 DC link voltage control mode active
6 Power control mode active
7 Scalar control active
8 Position control mode active
9 Speed at reference Speed control mode must be active
10 Torque at reference Torque control mode must be active
11 DC link voltage at reference DC link voltage control mode must be active
12 Position at reference Position control mode must be active
13 Field weakening active
14 IGBT current limit selected
15 Thermal current limit selected
16 Stator flux maximum limit active
17 Generating power
18 Diode regeneration
19 Stator flux minimum limit active
20 Motor thermal current limit selected Derating based on motor temperature
21 User current limit selected
22-31 Reserved
Table 52. Motor control limit word bit definitions

0 Current limit
1 Torque limit
2 Pull-out limit
3 Speed limit
4 Overvoltage control torque limit
5 Rush controller torque limit
6 PMSM UDC speed limit
7 Power limit
8 Undervoltage control torque limit
9 User torque limit
10 DC link current limit
11 Reserved
12 DC link voltage reference limit
13 PMSM minimum flux speed limit
14 Torque rate limit
15 Reserved
4.3.9 ST_MOT_4
This message contains the motor control fault word and limit error word. Each bit of the
fault word corresponds to a specific fault and is 1 if the fault is on, 0 if it is off. The limit error
word indicates if specific limits are set incorrectly. Refer to the application manual for further
information about limit configurations.
PGN: 65428 (0xFF94)

Priority: 3
Period: 1000 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 2154
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_mot_fault_word
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 lsb 32
st_mot_limit_error_word
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56

st_mot_fault_word 16 Motor control fault word

st_mot_limit_error_word 16 Motor control limit error word
Table 54. Motor control fault word bit definitions

0 Hardware overcurrent Phase overcurrent. Trip level not configurable.
1 Short circuit Inverter bridge short circuit.

Indicates a severe problem, investigate further before attempting to
restart the machine.
2 Reserved
3 Inverter bridge fault Inverter bridge hardware fault.

May be a severe fault that requires inspection before restarting the
machine.
4 Inverter overtemperature Inverter overtemperature.
Either measured base plate temperature or estimated PN junction
temperature. Check cooling.
5 Software overcurrent Overcurrent. Software trip, level configurable.
6 Overspeed Overspeed
May be caused by the overspeed trip limit, PMSM safe speed trip limit, or
minimum PM flux speed limit.
7 Overfrequency Output frequency over specified maximum.
8 Phase loss Phase cable not connected.
9 Earth fault Sum of phase currents not zero.
10 Parallel communication fault Sync link transmission error or slave unit tripped
11 Resolver error
12-15 Reserved
Table 55. Motor control limit error word bit definitions

0 Speed limits invalid Limit order incorrect or both limits not set
1 Reserved
2 Torque limits invalid Limit order incorrect or both limits not set
3 Reserved
4 Power limits invalid Limit order incorrect or both limits not set
5 Reserved
6 DC link current limits invalid Limit order incorrect or both limits not set
7 Reserved
8 DC link overvoltage limits invalid Limit order incorrect or both limits not set
9 Reserved
10 DC link undervoltage limits invalid Limit order incorrect or both limits not set
11-15 Reserved
4.3.10 ST_MOT_5
This message contains some of the actual motor frequency and the position of the rotor.
The rotor position is presented in two parts: full revolutions and the fractional revolution.
The total position is these parts combined.
PGN: 65429 (0xFF95)

Priority: 3
Period: 100 ms
Source: 253 (0xFD)
DLC: 8
PDU ID: 2155
7 6 5 4 3 2 1 0
0 7 6 5 4 3 2 1 lsb 0
st_mot_f
1 msb 15 14 13 12 11 10 9 8
2 23 22 21 20 19 18 17 lsb 16
3 31 30 29 28 27 26 25 24
4 39 38 37 36 35 34 33 32
st_mot_pos_full
5 msb 47 46 45 44 43 42 41 40
6 55 54 53 52 51 50 49 lsb 48
st_mot_pos_frac
7 msb 63 62 61 60 59 58 57 56

st_mot_f 16 0.03125 -1004 1003.96875 Hz Actual motor frequency
st_mot_pos_full 32 1 -2147483648 2063597567 Actual rotor position, full revolutions
st_mot_pos_frac 16 1/64255 0 1 Actual rotor position, fractional revolution
4.4 Time/Date Adjust

The internal time of the EC-C1200-450 inverter can be set by using the standard TDA
message. This can be useful as the time is shown in logs and it is reset to zero on reboot. The
message is sent with PGN 54528 (0xD500) + inverter address.
Note: Do not apply scaling according to section Signal scaling. The minimum and maximum
values presented are the natural limits of each signal and a separate offset value is specified
for the signal scaling. For signal scaling use the following equation.
value − offset
data =
factor
Note: Messages with values outside of the presented valid ranges will be ignored and the
time will not be set.
7 6 5 4 3 2 1 0
adjust_seconds
0 msb 7 6 5 4 3 2 1 lsb 0
adjust_minutes
1 msb 15 14 13 12 11 10 9 lsb 8
adjust_hours
2 msb 23 22 21 20 19 18 17 lsb 16
adjust_month
3 msb 31 30 29 28 27 26 25 lsb 24
adjust_day
4 msb 39 38 37 36 35 34 33 lsb 32
adjust_year
5 msb 47 46 45 44 43 42 41 lsb 40
6 55 54 53 52 51 50 49 48
7 63 62 61 60 59 58 57 56
Figure 25. TDA message layout
Table 57. TDA message contents

Name Bits Factor Offset Min Max Description
adjust_seconds 8 0.25 0 0 59 Time of day, seconds
adjust_minutes 8 1 0 0 59 Time of day, minutes
adjust_hours 8 1 0 0 23 Time of day, hours
adjust_month 8 1 0 1 12 Calendar date, month
adjust_day 8 0.25 0 1 31 Calendar date, day
adjust_year 8 1 1985 2000 2035 Calendar date, year
4.5 J1939 communication parameters

J1939-related parameters can be found in the parameter group 10.4 J1939. Each message
can be configured to one of the two buses and each bus is connected to either one of the
physical ports: CAN A or CAN B. Changing the configuration parameters requires a reboot
of the device for the changes to take effect.
Table 58. J1939 general parameters

Communications Bus 1 port uint16 0 = CAN A

J1939 1 = CAN B
General settings Bus 1 Rx timeout uint16 0 = No action (timeout disabled)
severity 1 = Note
2 = Warning
Bus 2 port uint16 0 = CAN A
1 = CAN B
Bus 2 Rx timeout uint16 0 = No action (timeout disabled)
severity 1 = Note
2 = Warning
Each J1939 message can be configured with the following parameters to adjust to the CAN
network the device is connected to. N is the number of the message, starting from 1.
Parameter changes require a reboot of the device to take effect.
Table 59. J1939 message configuration parameters

Communications Tx message N PGN uint16 Parameter Group Number (PGN) used for the sent
J1939 message.
Transmit configuration Tx message N uint16 Message priority, by default 3.
priority
Tx message N uint16 ms Message send period. Set to 0 to disable sending.
period
Tx message N PDU uint16 Unique identifier which connects the message
ID parameters to the specific message content.
Tx message N bus uint16 Bus selection of the message. See parameters in
Table 58 to select the CAN port for each bus.
Communications Rx message N PGN uint16 Parameter Group Number (PGN) to listen to.
J1939
Receive configuration If using a non-broadcast PGN, the lower octet must
be the device address (for example, to listen to PGN
0xEF00 directed to address 0xFA, set this to 0xEFFA).
Rx message N PGN uint16 A mask to set the bits that need to match in the PGN
mask for it to be read. 0xFFFF means that the PGN of a
received message must be an exact match to the
above parameter for it to be read.
Rx message N uint16 Source address that the message must come from.
source address
Rx message N uint16 Bits in the source address that need to match
source address (0x00 == don’t care, 0xFF == all must match).
mask
Rx message N uint32 ms Message receive timeout. Set to 0 to disable.
timeout
Rx message N PDU uint16 Unique identifier which connects the message
ID parameters to the specific message content.
Rx message N bus uint16 Bus selection of the message. See parameters in
Table 58 to select the CAN port for each bus.
4.6 J1939 signals

The signal group 10.4 J1939 contains Rx signal statuses for both buses. They can be used to
see whether the inverter is receiving the configured Rx messages.
Table 60. J1939 status signals

Signal group Signal name Type Unit Description
Communications Bus 1 signal status uint16 0 = Signals invalid (some or all Rx messages have
J1939 never been received)
Statuses 1 = Signals valid
2 = Rx timeout
Bus 2 signal status uint16 0 = Signals invalid (some or all Rx messages have
never been received)
1 = Signals valid
2 = Rx timeout
When the inverter boots up, the signals are invalid until all configured Rx messages have
been received at least once. After all messages have been received at least once, the signals
are valid. If a receive timeout occurs, the signal status becomes timeout and stays there until
the timeout condition disappears.
About
Danfoss Power Solutions
Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electronic
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We offer you expert worldwide support for ensuring the best possible solutions for outstanding
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Products we offer:
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Communication Manual

Firmware version 11.1

Document version 1.2

1. Communication interfaces ................................................................................................................................... 3

2. Common communication settings ....................................................................................................................... 3

2 | © Danfoss | October 2021

2. Common communication settings

Table 1. Parameters common to all CAN communication protocols

Communications Baud rate uint16 0 = 100 kbps

If the port is used by CANopen, the address must be

The resulting address must be within the valid address

© Danfoss | October 2021 | 3

3.1 Command (Rx) objects

Table 2. CANopen system command objects

2000 System command word UNSIGNED8 Bit definitions in Table 6

2008 System application command word UNSIGNED8 Bit definitions in Table 7

Table 3. CANopen motor control command objects

2300 Control mode UNSIGNED8 0 = Speed

2302 Motor application command word UNSIGNED8 Bit definitions in Table 9

2310 Speed reference INTEGER16 1 = 1 RPM

2311 Torque reference INTEGER16 1 = 1 Nm

2312 DC link voltage reference UNSIGNED16 1 = 0.1 V

2313 Power reference INTEGER16 1 = 0.1 kW

2314 Frequency reference INTEGER16 1 = 0.1 Hz

2315 Position reference, full revolutions INTEGER32 1 = 1 revolution

2316 Position reference, fractional UNSIGNED16 1 = 1/65533 revolution

2321 Speed limit, min INTEGER16 1 = 1 RPM

2322 Torque limit, max INTEGER16 1 = 1 Nm

2323 Torque limit, min INTEGER16 1 = 1 Nm

2324 DC link overvoltage protection limit UNSIGNED16 1 = 0.1 V

4 | © Danfoss | October 2021

ID (hex) Name Data type Notes

232A DC link current limit, max INTEGER16 1=1A

2331 Speed control integration time UNSIGNED16 1 = 0.001 s

2332 Speed control reference ramp time UNSIGNED16 1 = 0.001 s

2355 Store resolver parameters UNSIGNED8 0 = Off

u_dc_uvc_limit u_dc_uvc_begin UDC

Figure 1. DC link overvoltage and undervoltage control limits

© Danfoss | October 2021 | 5

3.2 Status (Tx) objects

Table 4. CANopen system status objects

2080 System status word UNSIGNED8 Bit definitions in Table 10

2087 System application active UNSIGNED8 Configurations 0 – 3

20A1 System fault word 2 UNSIGNED16 Bit definitions in Table 12

20B0.1 External temperature fault word UNSIGNED8 1 bit per channel

20D1.2 User I/O 2 input voltage UNSIGNED16 1 = 0.001 V

20D1.3 User I/O 3 input voltage UNSIGNED16 1 = 0.001 V

20D1.4 User I/O 4 input voltage UNSIGNED16 1 = 0.001 V

6 | © Danfoss | October 2021

Table 5. CANopen motor control status objects

2380 Motor application status word UNSIGNED16 Bit definitions in Table 15

2381 Motor control status word UNSIGNED32 Bit definitions in Table 16

2382 Motor control limit word UNSIGNED16 Bit definitions in Table 17

2384 Active control mode UNSIGNED8 0 = Speed

2391 Motor torque INTEGER16 1 = 1 Nm

2392 DC link voltage UNSIGNED16 1 = 0.1 V

2393 Motor mechanical power INTEGER16 1 = 0.1 kW

2394 Motor phase RMS current UNSIGNED16 1=1A

2395 DC link current INTEGER16 1=1A

2397 Motor frequency INTEGER16 1 = 0.1 Hz

2398 Motor position, full revolutions INTEGER32 1 = 1 revolution

2399 Motor position, fractional UNSIGNED16 1 = 1/65533 revolution

23B8 Resolver offset obtained UNSIGNED16 1 = 0.001 pu