Danfoss VACON 1000 Operating Manual page 56

VACON® 1000 Fieldbus Options
Operating Guide
Table 33: Example of PLC Address and Corresponding Protocol Address
Command
Coil Status
Input Status
Holding Register
Input Register
• Number of Data: Number of Data (Register or coils)
- When the Modbus function code is 3, 4, or 16, the range is 1–127.
- When the Modbus function code is 1, 2, or 15, the range is 1– 2000.
- Others must be 1.
• Mapping address: There are 2 buffers in the gateway, input buffer and output buffer. Here the mapping address refers to the
address of the 2 buffers. It bases zero.
• Byte Swap: Enable or Disable
• Type of Scan: Every Modbus command can be set to fast scan or slow scan. The gateway sends Modbus command according to
the Scan Rate. Scan Rate is ratio of fast scan to slow scan.
• COB-ID: COBID (decimal) is CAN ID.
- Default value of Transmit PDO command: 384(0X0180) + node ID, or 640(0X0280) + node ID, or 896(0X0380) + node ID, or
1152(0X0480) + node ID.
- Default value of Receive PDO command: 512(0X0200) + node ID, or 768(0X0300) + node ID, or 1024(0X0400) + node ID, or
1280(0X0500) + node ID.
• Number of Bytes: The range is 1–8.
5.6 Working Principle
5.6.1 CANopen Master/Modbus Slave
Modbus
Request message (Data 1)
Response message
.
.
.
Request message
Response message (Data n)
Illustration 20: CANopen Master/Modbus Slave Communication Mode
"Data 1" shows the data transfer process from Modbus to CANopen. "Data 2" shows the data transfer process from CANopen to
Modbus.
Communication mode between CANopen and Modbus is asynchronous mode. The gateway runs on CANopen network independ-
ently, and transmits Upload SDO commands of CANopen parameters periodically according to object dictionary, also transmits and
receives PDO (Process Data Object) commands. When receiving I/O request from Modbus, the gateway instantly responds with the
latest CANopen data to realize the matching of network speed.
56 | Danfoss A/S © 2023.09
PLC address
00001–00010
10001–10010
40001–40010
30001–30010
Gateway
Initiate Upload SDO
Response Upload SDO
Initiate Download SDO
Response Download SDO
Corresponding protocol address
00000–00009
00000–00009
00000–00009
00000–00009
CANopen
TPDO
RPDO
CANopen
AQ454734633756en-000101 / 172K1112