NORD Drivesystems BU0260 - Manual (Page 42)

Supplementary Manual CANopen for NORDAC SK 20E
42 Subject to technical amendments BU 0260 GB
STW SW1 SW2 SW3 DOs
4.5.2.6 PDO transmission / access in USS Protocol Mode
The internal status machine of the frequency inverter (USS) applies for the transfer of process data. Access to
the individual frequency inverters is according to the following pattern (see Section 4.9.4 "Frequency inverter
objects (2000hex - 3005hex )").
In the following example of a VIPA control, the linking of the objects (control word and setpoint) of FI 1 to those
of the CANopen master is illustrated.
4th frequency inverter Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-index Description
0 0x3000 4 Control word (STW)
1 0x3002 10 Setpoint 1 (SW1)
2 0x3002 11 Setpoint 2 (SW2)
3 0x3002 12 Setpoint 3 (SW3)
3rd frequency inverter Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-index Description
0 0x3000 3 Control word (STW)
1 0x3002 7 Setpoint 1 (SW1)
2 0x3002 8 Setpoint 2 (SW2)
3 0x3002 9 Setpoint 3 (SW3)
2nd frequency inverter Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-index Description
0 0x3000 2 Control word (STW)
1 0x3002 4 Setpoint 1 (SW1)
2 0x3002 5 Setpoint 2 (SW2)
3 0x3002 6 Setpoint 3 (SW3)
1st frequency inverter Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-index Description
0 0x3000 1 Control word (STW)
1 0x3002 1 Setpoint 1 (SW1)
2 0x3002 2 Setpoint 2 (SW2)
3 0x3002 3 Setpoint 3 (SW3)
PDO setpoint
Gateway
mode