Rx Pdo1 - ABB FCAN-01 User Manual

114 Communication protocol

Rx PDO1

Byte
CANopen object for
mapping
ACS355 Fixed
Mapping
ACSM1
2)
parameter
ACS850
ACS880
1)
In ACS355 drives, the first mapping entry is fixed and always mapped to object
6040h Control word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2)
Configuration group B (group 2) (when parameter 04 CONF LOC = 1)
The mapping entries of the Rx PDO1 can be configured through
CANopen object 1600h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO1 is 200h + Node ID, the default
transmission type is 255 and the event time is 0. These values can
be changed with CANopen object 1400h or from the drive with
parameters 7, 8 and 9 of the fieldbus configuration group A (group
1).
Mapped Mapped
obj 1 obj 2
1 2 3
1600h01 1600h02
1)
FBA DATA
OUT 1
FBA DATA FBA DATA
OUT 1 OUT 2
Mapped
obj 3
4 5 6
1600h03
FBA DATA
OUT 2
FBA DATA
OUT 3
Mapped
obj 4
7 8
1600h04
FBA DATA
OUT 3
FBA DATA
OUT 4