NORD Drivesystems BU0060 - Manual (Page 60)

CANopen – Supplementary manual options for NORD - Frequency Inverters
60 BU 0060 GB-4112
PDO mapping, SK 540E up to SK 545E 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 (Tx) 5 Byte 280h + NODE-ID IW4 IW5
PDO2 (Rx) 5 Byte 300h + NODE-ID SW4 SW5
PDO3 (Rx) 4 Byte 400h + (NODE-ID +1) IW1 (32 Bit) of an
absolute encoder
Pos : 94 /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/ Inhibi t Ti me [C ANopen] @ 1\ mod_1342432696269_388.doc x @ 32299 @ 5 @ 1
Inhibit Time
Each transmit PDO has a parameter "Inhibit Time" (0x1800 – 0x1803 Sub-Index 3). This can be used
to set a minimum send interval between two PDO messages. In networks with numerous subscribers,
the bus load can be influenced with this value. The default setting is 10 ms (Value x 100µs).
Pos : 95 /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/ Event Ti mer [C ANopen] @ 1\ mod_1342432843212_388. doc x @ 32323 @ 5 @ 1
Event Timer
The Parameter Event Time (0x1800 – 0x1803 Subindex 5) can be used for all transmit PDOs. Once
this value is exceeded, the PDOs are transmitted cyclically. The default setting is 250 ms (Value x
1ms).
Pos : 96 /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/ Einst ellungen am PD O [C AN open] @ 1\ mod_1342431680963_388.doc x @ 32251 @ 5 @ 1
PDO settings
All settings for the PDOs are implemented via the SDO parameter channel (Section 4.3.4).
The settings made are not stored permanently in the device, i.e. a reset of the 24 V power supply will
reset the changed parameters to the default values.
Pos : 97 /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/ Parametrier ung i m M ode C AN open (SD O Kommuni kati on) [CAN open] @ 1\ mod_1342433191459_388. doc x @ 32347 @ 3 @ 1
4.3.4 Parameterisation in CANopen mode (SDO communication)
Access to all parameters of the frequency inverter and the CANopen Box is implemented via so-called
service data objects (SDO). Access is via handshake between client and server, i.e. after a message
is transmitted, the response must be waited for before a new message can be sent.
Transmit and receive addresses for SDO access seen from the PLC
ID Node x ID Sende
- + = -
600 0
ID Node x ID Empfangs
- + = -
580 0
The Node ID of the frequency inverter is set via the "ID-H" and "ID-L" switches on the CANopen Box
or in the PGM mode via parameter P515.
Pos : 98 /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 Senden von Paramet erdat en über SDO [CAN open] @ 1\ mod_1342433465499_388. doc x @ 32371 @ 5 @ 1