NORD Drivesystems BU0060 - Manual (Page 57)

4 Communication and Protocol
BU 0060 GB-4112 57
4.3.1 Network Management (NMT)
The individual states of the CANopen network can be activated with the following commands:
Status Description Commands for setting the
operational state
Pre-Operational The inverter enters this state after initialisation. This
state is used for bus module configuration. Data traffic
via SDO objects is possible. The PDO channel is
blocked. Identifier = 0x00 // Data byte 0
= 0x80 // Data byte 1 = 0x00
Operational The bus is fully operational, SDO and PDO objects can
be transmitted Identifier = 0x00 // Data byte 0
= 0x01 // Data byte 1 = 0x00
Stopped Transfer of SDO and PDO objects is blocked, only NMT
messages can be transferred Identifier = 0x00 // Data byte 0
= 0x02 // Data byte 1 = 0x00
Table 13: Network Management (NMT)
Pos : 87 /Anl eitungen/ Elektroni k/ Bus s yst eme/4. Kommuni kati on und Prot okoll + Proz ess datentr ans fer /CAN open [ BU 0060]/D as C ANopen Pr ot okoll/ Antriebs profil D S 402 [CAN open] @ 1\ mod_1342100366594_388. doc x @ 32218 @ 3 @ 1
4.3.2 Drive profile DS 402
Together with the module SK TUx-CAO the frequency inverter supports the drive profile DS 402
Velocity Mode (speed profile).
The profile is only valid in parameter set 1 and is activated via parameter (P551).
Figure 10: Velocity Mode CiA DSP 402 V1.1 page 178
Information Drive profile DS 402
When the drive profile is activated (P551 = On), objects 6040 - 6044 instead of 3000 - 3003 are relevant.
The drive profile is not supported if the CANbus is implemented via the integrated RJ 45 sockets for SK 5xxE
inverters.
Pos : 88 /Anl eitungen/ Elektroni k/ Bus s yst eme/4. Kommuni kati on und Prot okoll + Proz ess datentr ans fer /CAN open [ BU 0060]/D as C ANopen Pr ot okoll/ Prozess dat entransf er i m C ANopen M ode (PDO Kommuni kati on) [CAN open] @ 1\ mod_1342094906407_388. doc x @ 32072 @ 3 @ 1
4.3.3 Process data transfer in CANopen mode (PDO communication)
PDOs (Process Data Objects) are used for transferring process data.
PDO mode Data type Frequency inverter ...
Receive PDO control data ... receives data
Transmit PDO Status data .... transmits data
Table 14: PDO types
NORD frequency inverters have up to 4 transmit and 4 receive PDOs which are identified by different
identifiers.
Transfer of PDOs is made without confirmation. The significance of the data transferred is determined
by the CAN identifiers being used and the PDO mapping. A maximum of 8 bytes of data is transferred.
Pos : 89 /Anl eitungen/ Elektroni k/ Bus s yst eme/4. Kommuni kati on und Prot okoll + Proz ess datentr ans fer /CAN open [ BU 0060]/D as C ANopen Pr ot okoll/ PDO- Betriebs arten (tr ans mission t ype) [C AN open] @ 1\ mod_1342096212798_388. doc x @ 32096 @ 5 @ 1