NORD Drivesystems BU0260 - Manual (Page 68)

Supplementary Manual CANopen for NORDAC SK 20E
68 Subject to technical amendments BU 0260 GB
5.2.2 CANopen parameter (P160)
This parameter reflects the 0x1xxx communication parameters of CANopen. Therefore they can be read out or
set by means of NORDCON or a ParameterBox. A summary of the objects can be found in Sections 8.4.2 and
8.4.3.
Parameter
{Factory setting}
Setting value / Description / Note Device Supervisor
Parameter
set
P160 ... [-01]
...
... [-10]
COB-ID ON/OFF
0 ... 4
{ [-01] = 3 }
{ [-02] = 3 }
{ [-03] = 0 }
{ [-04] = 0 }
{ [-05] = 0 }
{ [-06] = 3 }
{ [-07] = 3 }
{ [-08] = 3 }
{ [-09] = 3 }
{ [-10] = 0 }
Sets the validity of the SDO and PDO objects.
(see Objects 1200
(hex)
… 1203
(hex)
, 1400
(hex)
…1404
(hex)
and 1800
(hex)
…1804
(hex)
, each Sub-Index 1)
[-01] = Sync Message*
[-02] = SDO1** (FI 1)
[-03] = SDO2 (FI 2)
[-04] = SDO3 (FI 3)
[-05] = SDO4 (FI 4)
[-06] = PDO1*** (FI 1)
[-07] = PDO2*** (FI 2)
[-08] = PDO3*** (FI 3)
[-09] = PDO4*** (FI 4)
[-10] = PDO5*** (bus module)
Possible setting values for Array [-02] to [-10]:
0 = Transmit and Receive channel off
1 = Receive channel on
2 = Transmit channel on
3 = Transmit and Receive channel on
* Setting
here 0 = "OFF" 1 - 3 = "ON"
** Read Only
*** Writing access only permitted for Pre-Operational
P161 ... [-01]
...
... [-19]
COB-ID
0 ... 7FF
(hex)
{see table on right}
Definition of the COB Index of individual SDO and PDO objects
(see objects 1005
(hex)
und 1200
(hex)
… 1203
(hex)
, Sub-index 1 - Rx, Sub-index 2 - Tx,
1400
(hex)
…1404
(hex)
and1800
(hex)
…1804
(hex)
, each sub-index 1)
Array
[-01] = COB-ID Sync
Message
[-02] = SDO1 TX* (FI 1)
[-03] = SDO1 RX* (FI 1)
[-04] = SDO2 TX (FI 2)
[-05] = SDO2 RX (FI 2)
[-06] = SDO3 TX (FI 3)
[-07] = SDO3 RX (FI 3)
[-08] = SDO4 TX (FI 4)
[-09] = SDO4 RX (FI 4)
Factory setting
{ 0x0080 }
{ 0x0580+Addr.}
{ 0x0600+Addr.}
{ 0x02C0+Addr.}
{ 0x0340+Addr.}
{ 0x03C0+Addr.}
{ 0x0440+Addr.}
{ 0x04C0+Addr.}
{ 0x0540+Addr.}
Array
[-10] = PDO1 TX** (FI 1)
[-11] = PDO1 RX** (FI 1)
[-12] = PDO2 TX** (FI 2)
[-13] = PDO2 RX** (FI 2)
[-14] = PDO3 TX** (FI 3)
[-15] = PDO3 RX** (FI 3)
[-16] = PDO4 TX** (FI 4)
[-17] = PDO4 RX** (FI 4)
[-18] = PDO5 TX** (bus module)
[-19] = PDO5 RX** (bus module)
Factory setting
{ 0x0180+Addr.}
{ 0x0200+Addr.}
{ 0x0280+Addr.}
{ 0x0300+Addr.}
{ 0x0380+Addr.}
{ 0x0400+Addr.}
{ 0x0480+Addr.}
{ 0x0500+Addr.}
{ 0x01C0+Addr.}
{ 0x0240+Addr.}
* Read
Only
** Writing access only permitted for Pre-Operational