NORD Drivesystems BU0060 - Manual (Page 39)

4 Communication and Protocol
BU 0060 GB-4112 39
4. Communication and Protocol
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Information Little Endian data format
Data transfer is performed in Little Endian format. This means that in the data word, the High byte follows after
the Low byte. Example: "047E"
à 7E 04.
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4.1 Processing of Process Data in the Frequency Inverter
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The following CAN profile specifications apply to process data transfer with all CANnord/CANopen
interfaces in NORD frequency inverters. This protocol is used when P551 = 0 is set.
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4.1.1 Process data - General (PZD)
In the process data area (PZD), control words and setpoints are transferred from the master to the
frequency inverter and in return, status words and actual values are sent from the inverter to the
master. The structure of the PZD area is always the same in terms of the sequence of its elements
(words), however, dependent upon direction of data Master
à Slave / Slave à Master, it is described
differently.
The process data area of the reference data has the following structure:
STW Control Word; length 16 bit, order telegram
error acknowledgement)
ZSW Status Word; length 16 bit, response telegram cont
SW 1 … 3 Setpoints; 3 x 16 bit or 1 x 32 bit and 1 x 16 bit, order telegram, e.g. frequency setpoint,
position setpoint, torque setpoint.
IW 1 … 3 Actual values; 3 x 16 bit or 1 x 32 bit and 1 x 16 bit, response telegram, e.g. actual frequency,
actual position, actual torque.
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Information SK 54xE – CAN via RJ45
If CANnord / CANopen is implemented via the internal RJ45 sockets, the setpoints and actual values 4 and 5 can
also be communicated (SK 54xE and above).
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