NORD Drivesystems BU0260 - Manual (Page 53)

4 Commissioning
BU 0260 GB Subject to technical amendments 53
4.9.3 CANopen objects DSP402 – drive profile
From the device profile DS402, the operating mode "Velocity Mode" is supported by the CANopen modules SK
xU4-CAO(-...). In order to use this drive profile, the operating mode "Profile" must be switched on in parameter
(P168 [-01]) and the PDOs mapped to the objects used (e.g. 0x6040 + 0x6042 RxPDO and 0x6041 + 0x6044
TxPDO) In this operating mode the digital inputs and outputs of the bus module can only be mapped in the
PDO via the objects 0x60FD and 0x60FE. Direct processing of these I/Os via the connected frequency
inverter(s) is not possible.
Index Sub Object Description Unit Access Type
0x603F 0 Error code Last error RO U16
0x6040 0 Control word Control word
0 = Standby / Shut down
1 = Disable voltage / Enable voltage
2 = Rapid stop / Enable operation
3 = Enable / Disable operation
4 = Rapid stop / No rapid stop
5 = Stop run-up encoder / Enable run-up
encoder
6 = Disable / Enable setpoint
7 = 0 / Acknowledge fault
8 = Reserved
9 = Reserved
10 = Reserved
11 = Rotation right / Rotation left
12 = Reserved
13 = Reserved
14 = Reserved
15 = Reserved
RW U16
0x6041 0 Status word
Status word
0 = Not on standby /Standby
1 = Not ready / Ready
2 = Operation disabled / Enabled
3 = No fault / Fault
4 = Voltage enabled / Voltage disabled
5 = Rapid stop active / No rapid stop
6 = No switch-on lock / Switch-on lock
7 = No warning / Warning
8 = Reserved
9 = Local control / Bus control
10 = Setpoint not reached / Setpoint reached
11 = Setpoint not limited / Setpoint limited
12 = Reserved
13 = Reserved
14 = Reserved
15 = Reserved
RO U16
0x6042 0 Vl_target_velocity Speed setpoint rpm RW I16
0x6043 0 Vl_velocity_demand Speed setpoint after ramp rpm RO I16
0x6044 0 Vl_control_effort Actual speed value rpm RO I16
0x6046 Vl_velocity_min_max_amount
0 Largest sub-index Number of elements RO U8
1 Vl_velocity_min_amount Min. speed rpm RW U32
2 Vl_velocity_max_amount Max. speed rpm RW U32
0x6048 Vl_velocity_acceleration Speed acceleration
0 Largest sub-index Number of elements RO U8
1 Delta_speed Delta speed
(see Parameter
(P168 [-02, -06, -10, -14]))
rpm RW U32
2 Delta_time Delta time
(see Parameter
(P168 [-03, -07, -11, -15]))
S RW U16