---
title: "SAKO VFD Control Library"
description: "Documentation for SAKO VFD (Variable Frequency Drive) interface component"
keywords: [SAKO, VFD, Variable Frequency Drive, Modbus, ESP32, Industrial Control]
---

## SAKO VFD Control Library

**Path**: [`src/SAKO.h`](../src/SAKO.h)

**Revision History**: Initial documentation

A library for interfacing with SAKO Variable Frequency Drives (VFDs) via Modbus communication. This component provides standardized access to SAKO VFD registers, enabling monitoring and control of motors in industrial applications.

## REQUIREMENTS

- RS-485 communication interface (hardware or software)
- Modbus RTU protocol support
- SAKO VFD with Modbus communication capability

## FEATURES

- Comprehensive enumeration of SAKO VFD registers
- Support for monitoring parameters (frequency, voltage, current, etc.)
- Direction control (forward, reverse, jogging, etc.)
- Error code definitions and handling
- Parameter group communication access

## DEPENDENCIES

- [Modbus RTU Library](../src/modbusRTU.h)

```mermaid
graph TD
    App --> SAKO
    SAKO --> ModbusRTU
    ModbusRTU --> UART
```

## BEHAVIOUR

```mermaid
stateDiagram-v2
    [*] --> Initialize
    Initialize --> Idle
    Idle --> ReadStatus: Poll Status
    Idle --> Control: Set Direction
    Idle --> ReadRegisters: Request Data
    ReadStatus --> Idle: Process Status
    Control --> Idle: Command Sent
    ReadRegisters --> Idle: Process Data
    ReadStatus --> ErrorHandling: Error Detected
    ErrorHandling --> Idle: Reset Error
```

## TODOS

### PERFORMANCE

- Optimize polling frequency based on application requirements
- Consider implementing caching mechanism for frequently accessed registers
- Add prioritization for critical status parameters

### SECURITY

- Implement validation for register values before writing
- Add support for communication timeouts
- Consider checksum validation for critical commands

### COMPLIANCE

- Verify compatibility with all SAKO VFD models
- Ensure compliance with industrial communication standards
- Document parameter ranges according to SAKO specifications

### RECOMMENDATIONS

- Maintain a minimum poll interval of 50ms to avoid bus contention
- Use parameter group access addresses as specified in the SAKO manual
- Implement error handling and retry logic for communication failures
- Consider using separate tasks for status monitoring and control operations

## EXAMPLE

```cpp
#ifdef ENABLE_SAKO_VFD
  sakoVFD = new SAKOVFD(
    this,                 // owner
    &modbus,              // modbus interface
    SAKO_VFD_SLAVE_ADDR,  // modbus slave address
    SAKO_VFD_ID           // component ID
  );
  
  if (sakoVFD) {
    components.push_back(sakoVFD);
    Log.infoln(F("SAKO VFD initialized. Slave Address: %d, ID: %d"), 
              SAKO_VFD_SLAVE_ADDR, SAKO_VFD_ID);
              
    // Configure monitoring parameters
    sakoVFD->enableMonitoring(E_SAKO_MON::E_SAKO_MON_RUNNING_FREQUENCY_HZ, true);
    sakoVFD->enableMonitoring(E_SAKO_MON::E_SAKO_MON_OUTPUT_CURRENT_A, true);
    sakoVFD->enableMonitoring(E_SAKO_MON::E_SAKO_MON_OUTPUT_VOLTAGE_V, true);
  }
  else {
    Log.errorln(F("SAKO VFD initialization failed."));
  }
#endif
```

### References

The SAKO VFD component uses parameter group communication access addresses as defined in the SAKO VFD manual:
- P0 ~ PE Group: 0xF000 - 0xFEFF
- A0 ~ AC Group: 0xA000 - 0xACFF
- U0 Group (Monitoring): 0x7000 - 0x70FF

For detailed information about specific registers and their meanings, refer to the SAKO VFD Operation Manual.