Pdo Configuration Via The Can Bus - ABB FCAN-01 User Manual

PDO configuration via the CAN bus

This section gives an example of how to configure PDOs via the
CAN bus from the CANopen master. In this example, the following
PDO configuration is made:
• Rx PDO1 (from master to drive): 6040h Control word and 6042h
vl target velocity
• Tx PDO1 (from drive to master): 6041h Status word, 6044h
vl control effort and drive parameter 01.20
• Tx PDO1 sent to the master at 100 ms intervals
Set the drive parameters as listed in the table below.
Drive parameter*
51.02 NODE ID
51.03 BIT RATE
51.04 CONF LOC
51.05 PROFILE
* The actual parameter group number depends on the drive type. For example, the
fieldbus configuration parameter group A (group 1) equals to parameter group 51
in ACS350, ACS355, ACSM1 and ACS850.
Setting
3
0...5
0
0
Description
In this example, module node ID = 3
Bit rate used on the CANopen
network. See Drive
PDO configuration via CAN bus
DSP 402
101
configuration.
Communication