NORD Drivesystems BU0060 - Manual (Page 58)

CANopen – Supplementary manual options for NORD - Frequency Inverters
58 BU 0060 GB-4112
PDO operating modes (transmission type)
The “transmission type” determines when a transmit PDO is transmitted and when the data from a
receive PDO is processed. These settings are set in objects 1400-1403 and 1800-1803. The following
settings can be made with NORD frequency inverters:
Transmission type Value
Transmit PDO (Tx)
0 PDO is transmitted if a SYNC command has been received and the data (status) has
changed since the last SYNC command.
1 - 240 PDO is transmitted if 1..240 SYNC commands have been received, whether the data
(status) has changed or not.
252, 253 Reserved
254, 255 The PDO is transmitted immediately if the data (status) has changed (standard setting).
Receive PDO (Rx)
0 - 240 Data from the Receive PDO is only processed after the next SYNC command has been
received.
252, 253 Reserved
254, 255 Data from Receive PDO is processed immediately (standard setting).
Table 15: PDO modes
Pos : 90 /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- Mappi ng [C ANopen] @ 1\ mod_1342098118786_388.doc x @ 32120 @ 5 @ 1
PDO mapping
The assignment of process data in the receive and transmit PDOs is set under PDO mapping (objects
1600-1603 and 1A00-1A03). Up to 8 bytes of data can be transferred in each PDO. Mapping
determines where which pieces of data are placed in these 8 bytes, e.g.:
PDO data bytes
1 2 3 4
Control Word (16 Bit) Setpoint 1 (16 Bit)
The control word, status word, the setpoint values and actual values can be set using the following
object numbers:
Index Sub-
index
Control object Index Sub-
index
Status object
3000 Control word (STW) 3001 Status word (ZSW)
3002 1 Setpoint 1 (SW1) 16 Bit 3003 1 Actual value 1 (IW1) 16
Bit
2 Setpoint 2 (SW2) 16 Bit 2 Actual value 2 (IW2) 16
Bit
3 Setpoint 3 (SW3) 16 Bit 3 Actual value 3 (IW3) 16
Bit
4 Setpoint 4 (SW4) 16 Bit Only SK 54xE 4 Actual value 4 (IW4) 16
Bit
5 Setpoint 5 (SW5) 16 Bit Only SK 54xE 5 Actual value 5 (IW5) 16
Bit
4 Setpoint 1 (SW1) 32 Bit Only SK 7x0E 4 Actual value 1 (IW1) 32
Bit
An entry in the object index determines the setting (objects 1600-1603 and 1A00-1A03). This specifies
which object of the device is transferred to which point of the PDO.