NORD Drivesystems BU0060 - Manual (Page 63)

4 Communication and Protocol
BU 0060 GB-4112 63
Changing the COB-ID (address) of a PDO
Changes to the identifier of a PDO can only be made when the NMT status machine of the inverter is
in the "Pre-Operational" state.
Each Transmit and Receive PDO has its own parameter for this setting.
PDO Receive PDO Send PDO
PDO 1 0x1400 Sub 1 0x1800 Sub 1
PDO 2 0x1401 Sub 1 0x1801 Sub 1
PDO 3 0x1402 Sub 1 0x1802 Sub 1
PDO 4 0x1403 Sub 1 0x1803 Sub 1
Table 20: Index table for transmit and receive PDOs of the inverter
The following parameter is a 32 bit value, which includes other information in addition to the identifier.
Bit number Value Meaning
31
0 PDO is active
1 PDO is switched off
30 1
Values cannot be changed
29 to 11 0
10 to 0 X PDO identifier ( COB – ID )
Table 21: Description of PDO COB-ID entry
The PDO identifier is stored in bits 0 to 10. The bit 31 must be set to null, otherwise the PDO will be
deactivated. If, e.g. the identifier for a transmit PDO is changed to 0x201, the value 0x40000201 must
be entered in the appropriate parameter.
The new identifier becomes valid by setting the NMT status machine to the "Operational" state.
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