ABB FCAN-01 User Manual page 62

62 Start-up
PDO Word 1
1)
According to the ABB Drives profile mode
2)
Example
Note: In ACS355 drives, the first mapping entries of PDOs 1 and 6 are fixed. See
Process Data Objects (PDO)
Note: The settings of the PDOs can be changed with CANopen
objects 14xxh, 16xxh, 18xxh and 1Axxh. The communication
parameter settings of CANopen objects 14xxh and 18xxh are valid
only to the next boot-up unless they are stored to the non-volatile
memory.
The ACS355 parameters and recommended parameter settings
for the CANopen fieldbus communication are listed in the following
table.
Drive parameter
9802 COMM PROT SEL
5101 FBA TYPE
5102 FBA PAR 2
(NODE ID)
5103 FBA PAR 3
(BIT RATE)
5104 FBA PAR 4
(CONF LOC)
5105 FBA PAR 5
(PROFILE)
3018 COMM FAULT
FUNC
3019 COMM FAULT
TIME
5107 FBA PAR 7
(RPDO1-COB-ID)
Word 2 Word 3
on page 113.
Setting for ACS355
drives
4 = EXT FBA
1)
32 (= CANopen)
2)
3
2)
2 (= 250 kbit/s)
1 (= Parameters)
1 (= ABB Drives)
1 = FAULT
3.0 s
1 (= Default)
Word 4 Length
Description
Activates the communication
(fieldbus) module.
Communication module type
Adapter module node ID
Bit rate used on the CANopen
network
PDO configuration is done with
FCAN-01 configuration
parameters, that is, ACS355
parameter groups 51, 55 and
54.
ABB Drives profile mode (that is,
communication profile used by
the module)
Sets the fieldbus communication
loss functionality.
Fieldbus communication loss
supervision time-out
Rx PDO1 is enabled and
configured to use the default
COB-ID.