ABB FCAN-01 User Manual page 122

122 Communication protocol
Write the CANopen objects via the CAN bus as shown in the
following table. The adapter module must be in the Pre-operational
state.
Object Sub-
index index
1400 01
1400 02
1600 00
1600 01
1600 02
1600 00
1400 01
1800 01
1800 02
1800 05
1A00 00
1A00 01
Name
Rx PDO1
Parameter, COB-ID
Rx PDO1
Parameter,
Transmission type
Rx PDO1 Mapping,
Number of entries
Rx PDO1 Mapping,
Mapped object 1
Rx PDO1 Mapping,
Mapped object 2
Rx PDO1 Mapping,
Number of entries
Rx PDO1
Parameter, COB-ID
Tx PDO1
Parameter, COB-ID
Tx PDO1
Parameter,
Transmission type
Tx PDO1
Parameter, Event
timer
Tx PDO1 Mapping,
Number of entries
Tx PDO1 Mapping,
Mapped object 1
Write
value
(hex)
80000203 Disable Rx PDO1
FF Transmission type 255
0 Required before
mapping
60400010 6040h Control word
(subindex 0, length 16
bits)
60420010 6042h vl target velocity
(subindex 0, length 16
bits)
2 2 objects mapped
203 Enable Rx PDO1, use
COB-ID 203h.
80000183 Disable Tx PDO1
FF Transmission type 255
64 100 ms
0 Required before
mapping
60410010 6041h Status word
(subindex 0, length 16
bits)
Description
1)
.
2)
2)
1)
.
2)