Rx Pdo6 - ABB FCAN-01 User Manual

116 Communication protocol

Rx PDO6

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)
Note: The mapping entries of the Rx PDO6 can be configured
through CANopen object 1605h or from the drive with fieldbus
configuration parameter group B (group 2).
The default COB ID for Rx PDO6 is 80000300h + Node ID (Rx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1405h or from the drive with parameters 13, 14 and 15 of the
fieldbus configuration group A (group 1).
Mapped Mapped
obj 1 obj 2
1 2 3
1605h01 1605h02
1)
FBA DATA
OUT 4
FBA DATA FBA DATA
OUT 5 OUT 6
Mapped
obj 3
4 5 6
1605h03
FBA DATA
OUT 5
FBA DATA
OUT 7
Mapped
obj 4
7 8
1605h04
FBA DATA
OUT 6
FBA DATA
OUT 8