NORD Drivesystems BU0060 - Manual (Page 59)

4 Communication and Protocol
BU 0060 GB-4112 59
Information
NORD frequency inverters support dynamic mapping and dummy mapping!
Pos : 91 /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 SK 300E, SK 5xxE (SK TU 3-...), SK 700E, SK 750E [CAN open] @ 1\ mod_1342098845033_388. doc x @ 32144 @ 6 @ 1
PDO mapping SK 300E, SK 5xxE (SK TU3-…), SK 700E, SK 750E
PDO type Length Identifier 1st word 2nd word 3rd word 4th word
PDO1 (Tx) 4 Byte 180h + NODE-ID ZSW IW1
PDO1 (Rx) 4 Byte 200h + NODE-ID STW SW1
PDO2 (Tx) 8 Byte 280h + NODE-ID ZSW IW1 IW3 * IW2 *
PDO2 (Rx) 8 Byte 300h + NODE-ID STW SW1 SW3 * SW2 *
PDO3 (Tx) 8 Byte 380h + NODE-ID ZSW IW1 (32 Bit) IW2
PDO3 (Rx) 8 Byte 400h + NODE-ID STW SW1 (32Bit) SW2
PDO4 (Tx) 2 Byte 480h + NODE-ID ZSW
PDO4 (Rx) 2 Byte 500h + NODE-ID STW
*) In the SK 5xxE devices, the IW/SW 3/2 are assigned inversely to the words.
3rd word = IW/SW2, 4th word = IW/SW3
In the default setting, all receive PDOs are active. A decision is made when sending messages to the
applicable identifier whether one setpoint or up to three setpoints can be evaluated.
With transmit PDOs, only PDO 1 is active, while PDOs 2 to 4 are deactivated. If the application
requires the sending of several actual values, the corresponding PDO must be switched on. In the
following example, transmit PDO 2 is activated, the default setting transmits a status word and three
actual values. For this, the following messages must be sent via the SDO parameter channel (see
Section 4.3.4):
· Set the NMT status machine for the inverter to the state "Pre-Operational"
· Deactivate PDO 1 à SDO telegram (Index=0x1800 / Subindex=1 / Data=0xc0000181)
· Activate PDO 2 à SDO telegram (Index=0x1801 / Subindex=1 / Data=0x40000281)
· Set the NMT status machine for the inverter to the state "Operational"
· PDO 1 is deactivated to prevent the bus load from rising unnecessarily. The PDO is
activated/deactivated via Bit 31 in the corresponding parameter.
Pos : 92 /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 SK 511E bis SK 535E über i nt ernen RJ45 Ansc hluss [C ANopen] @ 1\mod_1342099915579_388. doc x @ 32168 @ 6 @ 1
PDO mapping, SK 511E up to SK 535E via internal RJ45 connection
PDO type Length Identifier 1st word 2nd word 3rd word 4th word
PDO1 (Tx) 8 Byte 180h + NODE-ID ZSW IW1 IW2 IW3
PDO1 (Rx) 8 Byte 200h + NODE-ID STW SW1 SW2 SW3
PDO2 (Rx) 4 Byte 300h + (NODE-ID +1) IW1 (32 Bit) of an
absolute encoder
Pos : 93 /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 SK 540E bis SK 545E über i nt ernen RJ45 Ansc hluss [C ANopen] @ 2\mod_1347885363093_388. doc x @ 47651 @ 6 @ 1