7 canopen – NORD Drivesystems BU0550 User Manual
Page 69
3 AWL (Instruction List, IL)
BU 0550 GB-0813
69
3.5.7
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Via function blocks the PLC can configure and monitor PDO channels and transmit on them. The PDO can
transmit or receive up to 8 bytes of process data via a PDO. Each of these PDOs is accessed via an
individual address (COB-ID). Up to 20 PDOs can be configured in the PLC. For simpler operation, the COB-
ID is not entered directly. Instead, the device address and the PDO number are communicated to the FB.
The resulting COB-ID is determined on the basis of the Pre-Defined Connection Set (CiA DS301). This
results in the following possible COB-IDs for the PLC.
Transmit PDO
Monitored PDO
PDO
COB-ID
PDO
COB-ID
PDO1
200h + Device address
PDO1
180h + Device address
PDO2
300h + Device address
PDO2
280h + Device address
PDO3
400h + Device address
PDO3
380h + Device address
PDO4
500h + Device address
PDO4
480h + Device address
PDO5
180h + Device address
PDO5
200h + Device address
PDO6
280h + Device address
PDO6
300h + Device address
PDO7
380h + Device address
PDO7
400h + Device address
PDO8
480h + Device address
PDO8
500h + Device address
Table 94 Resulting COB-IDs
NORD inverters use PDO1 to communicate process data. PDO2 is only used for setpoint/actual value 4 and 5.
3.5.7.1
Overview
Function module
Explanation
FB_PDOConfig
PDO configuration
FB_PDOSend
Transmit PDO
FB_PDOReceive
Receive PDO
FB_NMT
Enable and bar PDO
Table 95 CANopen overview