NORD Drivesystems BU0260 - Manual (Page 94)

Supplementary Manual CANopen for NORDAC SK 20E
94 Subject to technical amendments BU 0260 GB
Mapping
Byte 1 2 3 4
Rx-PDO1 Obj 0x3000 (Sub 1) (control word) 0bj. 0x3002 Sub1 (Setpoint 1)
Byte 1 2 3 4
Tx-PDO1 Obj 0x3000 (Sub 1) (status word) 0bj. 0x3003 Sub1 (Actual value 1)
NOTE
Objects 3002
hex
and 3003
hex
can be used to specify which setpoint or actual value is to be
transferred. The meaning of the setpoint or actual values is set in the frequency inverter via
parameters (P543) - (P548) for SK 500E and via parameters (P543[-01]-[-03]) or (P546[-01]
- [-03]) for SK 200E
.
Control data, profile DS301 with USS State Machine:
In order to be able to control the frequency inverter, the CANopen status must first be set to “Operational”
After switching on, the frequency inverter is in “Switch-on disabled” status. It has to be switched to "Ready for
switch-on" status using a control command. To do so, the control word “0x047E” must be transmitted. The
PDO telegram then has the following structure:
Byte 1 2 3 4
ID=204 7E
hex
04
hex
00
hex
00
hex
The drive should then run at 50% of its maximum frequency. For this purpose, the control words “0x047F” and
“0x2000” must be transmitted as setpoints:
Byte 1 2 3 4
ID=204 7F
hex
04
hex
00
hex
20
hex