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VACON® 1000 Fieldbus Options
Operating Guide
Command Configuration
•
Index value: Object index value in object dictionary (decimal)
•
Sub-index value: Object sub-index value in object dictionary (decimal)
•
Number of Bytes: Number of bytes of mapping item
•
Mapping address: Memory address mapped in the gateway (Read only)
•
COB-ID: The CAN ID (decimal) of CANopen PDO
-
Default value of Transmit PDO command: 384(0x180) + node ID or 640(0x280) + node ID or 896 (0x380) + node ID or
1152(0x480) + node ID
-
Default value of Receive PDO: 512(0x200) + node ID or 768(0x300) + node ID or 1024 (0x400) + node ID or 1280 (0x500) +
node ID
5.5.2 CANopen Slave/Modbus Master
Modbus Configuration
•
Baud Rate: 1200, 2400, 4800, 9600, 19200, 38400, 57600, and 115200 bps
•
Response Timeout: After the gateway sends request, it waits for the response of the Modbus slave for maximum time which is in
10 ms. The range of the parameter value is 30–6000.
•
Delay between Polls: Delay between a response has been received and sending next request. The range of the parameter value
is 0–250 in units of ms.
•
Check Bit: None, Even, or Odd
•
Output Mode:
-
Cycle: The write commands are sent periodically.
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Forbidden: The gateway does not send write commands.
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Change of Value: When the output data changes, the write commands are sent.
•
Scan Rate: Ratio of fast scan to slow scan. Every Modbus command can be set to fast scan or slow scan. If this parameter value is
set to 10, then every fast scan command are sent 10 times and those slow commands are sent once. The range of the parameter
is 1–255.
•
Stop Bits: 1 or 2
•
Transmission Mode: RTU or ASCII
CANopen Configuration
•
CANopen Baud Rate: 5, 10, 20, 50, 100, 125, 250, 500, and 1000 kbps. Default value is 250 kbps.
•
Delay to Start up: The parameter is based on 10 ms. The gateway sends bootup message after a time. The range of the parame-
ter value is 0–200. Default value is 100.
•
CANopen Node ID: The address of the gateway as CANopen slave node. The range is 1–99. The default value is 1.
•
The Cycle of TPDO Transmission: The gateway has two modes for TPDO Transmission, Change of Value and Cycle. If the parame-
ter is non-zero the gateway sends TPDO according to the parameter value. This parameter is based on 10 ms. The range of the
parameter value is 0–60000. Default value is 0.
•
Power-on Status: The status when the gateway powers on.
•
Guard Life Time: Guard life is used when input value is non-zero, else heartbeat is used. The default is 0, which adopts the heart-
beat protocol (range from 0–60000).
•
Timestamp: Disable or Enable. The default is Disable.
Command Configuration
•
Starting Address: The starting address of the register/switching value/coil in Modbus slave device. The range of the parameter
value is 0–65535. Notes: This item of the gateway indicates the protocol address. When a PLC address is put in, it must be con-
verted and the blanks filled in. PLC address range is 1–65535.
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PLC address range: (4) 00001–(4) 65535
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Protocol address range: 00000–65535
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PLC address = (4) Protocol address + 00001
Danfoss A/S © 2023.09
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CANopen
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