NORD Drivesystems BU0510 User Manual
Page 63
BU 0510 GB-3911
Subject to technical alterations
63
In order to set up communication between the master and the slave via the CANopen bus the following
settings are necessary.
Master device settings:
P502[-01]
=
20
Setpoint frequency after the frequency ramp
P502[-02]
=
15
Actual position in incremental High word
P502[-03]
=
10
Actual position in incremental Low word
P503
=
3
CANopen
P505
=
0
0.0 Hz
P514
=
5
250 kBaud (at least 100 kBaud should be set)
P515[-03]
=
P515
Slave
[-02] Broadcast
– Master – Address
Slave device settings:
P510 [-01]
=
10
Main setpoint value of CANopen - Broadcast
P510 [-02]
=
10
Subsidiary setpoint value of CANopen - Broadcast
P505
=
0
0.0 Hz
P514
=
5
250 kBaud (at least 100 kBaud should be set)
P515[-02]
=
P515
Master
[-03] Broadcast - Slave
– Address
P546
=
4
Frequency addition
P547
=
24
Setpoint position in incremental High word
P548
=
23
Setpoint position in incremental Low word
P600
=
1, 2
Position control ON with maximum frequency or ON with setpoint
frequency
12
P610
=
2
Synchronous operation
NOTE
The actual position of the master must always be transmitted to the slave in the setting "In
Increments" and be evaluated by the slave, as otherwise an additional transmission time error
would be created.
6.3 Settings for slave ramp time and maximum frequency
In order for the slave to be able to perform the control, the ramp times should be selected somewhat smaller
than for the master and the maximum frequency should be selected somewhat higher.
Slave device settings:
P102
Slave
=
0,5 ... 0,95 * P102
Master
P103
Slave
=
0,5 ... 0,95 * P103
Master
P105
Slave
=
1,05 ... 1.5 * P102
Master
P410
Slave
=
0
P411
Slave
=
P105
Master
For the slave, frequency addition (instead of setpoint frequency) is set in parameter P546 "Function Bus -
Setpoint Value 1". Otherwise the problem would occur that the for the slave the maximum frequency could only
be set slightly higher than for the master in order prevent the specification from being falsified too much.
However, this removes the possibility for the slave drive to "catch up" at speeds close to the maximum
frequency.
12
Both variants are possible, as with synchronous operation the maximum positioning speed is always F
max
.