Woodward easYgen-2000 Series User Manual page 419

Configure RPDO
ID Parameter
9300 COB-ID
9910 Number of
Mapped Objects
9911 1. Mapped
Object
CANopen message
6.5.1.5.2 Default SDO Communication Channel
37535B
CANopen Applications > Remote Control > Transmitting A Power Setpo...
1. Either on the front panel or using ToolKit navigate to menu
"Configure CAN interface 1 è Receive PDO 1" .
2. Configure the parameters listed below.
Value Comment
00000321 (hex) COB-ID set to 00000321.
1 One mapped object is configured
00507 The 1st mapped object is set to control parameter 507.
ð
With this setting, the Receive PDO is set to the address,
for which the device is listening on the bus. The number
of mapped objects is 1 since 1 mapped object is used.
The request on the bus is sent with the control parameter
507 of the device as mapped object 1.
The following table shows exemplary send data for the device on
the CANopen bus in line 1.
A power setpoint of 1000.0 kW is transmitted:
10000 (dec) = 2710 (hex) ￫ 10 27 according to the CANopen
n
protocol
ID (hex)
321
601
Another possibility for transmitting a power setpoint is to send the
value via default SDO communication channel. The device listens
to the CAN ID 600 (hex) + Node-ID internally to perform the
desired control, the reply is on CAN ID 580 (hex) + Node-ID.
The following example shows the send format on CANopen with
Node-ID 1.
The value is sent on the bus via the control parameter 507 of the
device.
The hexadecimal value 2000 is calculated internally:
easYgen-2200/2500 | Genset Control
Setting the COB-ID to 321 (hex) is exem‐
plary; usually, the PDOs are in the range of
181 (hex) to 57F (hex).
Refer to Ä Chapter 9.2.3 "Additional Data
Identifier" on page 527 for a list of additional
parameter groups.
Description
Remote P setpoint
Remote P setpoint
Application
Data (hex)
10 27 00 00
23 FB 21 01 10 27 00 00
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