NORD Drivesystems BU0550 - Manual (Page 71)

3 AWL (Instruction List, IL)
BU 0550 GB-0813 71
3.5.7.3 FB_PDOConfig
The PDOs are configured via this FB. All required PDOs can be configured with a single instance of this
function. The FB must only be called up once for each PDO.
Up to 20 PDOs can be set up. Each PDO has its own parameterisation. The allocation of the PDO in the
other CANopen FBs is carried out via the message box Number. The TARGETID shows the device
address. With NORD frequency inverters, this is set in P55 or via DIP switches. The required message box
number is entered under PDO (see Introduction). LENGTH defines the transmission length of the PDO. The
transmission and reception direction is specified via DIR. The data is adopted with the positive flank on the
EXECUTE input.
The DONE output can be queried immediately after call-up of the FB. The PDO channel has been
configured if DONE is set to 1. If ERROR = 1 there was a problem, whose precise cause is saved in
ERRORID.
With a negative flank on EXECUTE all outputs are reset to 0.
Table 97 FB_PDOConfig
NOTE
CAN-IDs which are already being used by the frequency inverter may not be parameterised!
This applies to the following reception addresses:

CAN ID = 0x180 + P515[-01] PDO1

CAN ID = 0x180 + P515[-01] + 1 CAN ID for absolute encoders

CAN ID = 0x280 + P515[-01] PDO2
This applies to the following transmission addresses:

CAN ID = 0x200 + P515[-01] PDO1

CAN ID = 0x300 + P515[-01] PDO2
VAR_INPUT VAR_OUTPUT
Input Explanation Type Output Explanation Type
EXECUTE Execute BOOL DONE PDO configured BOOL
NUMBER Message box number
Value range = 0 to 19
BYTE ERROR Error in FB BOOL
TARGETID Device address
Value range = 1 to 127
BYTE ERRORID Error code INT
PDO PDO
Value range = 1 to 8
BYTE
LENGTH PDO length
Value range = 1 to 8
BYTE
DIR Transmit or receive
Transmit = 1 / Receive = 0
BOOL
ERRORID Explanation
0 No error
1800h Number value range exceeded
1801h TARGETID value range exceeded
1802h PDO value range exceeded
1803h LENGTH value range exceeded