Danfoss VACON 1000 Operating Manual page 58

VACON® 1000 Fieldbus Options
Operating Guide
Function 04
Function 06/16
Illustration 22: CANopen Master/Modbus Slave Communication
As shown in the previous illustration, the gateway assigns 2-byte status input buffer and 2-byte control command output buffer (it
can have up to 127 nodes in CANopen, so the aggregate is 254 bytes) for each CANopen slave respectively. So, Modbus master can
use function 04 to read status of each CANopen slave and also can use function 06/16 to control the running state of CANopen
slave.
• The address range of status input buffer of CANopen slave: 0x0200–0x02FD byte
• The address range of control command output buffer of CANopen slave: 0x0200–0x02FD byte
Table 35: Starting Address of Input/Output Buffer
Memory mapping address
Modbus slave PLC address
Modbus slave protocol address
Table 36: Input/Output Buffer Status and Command Specifications
Memory mapping address (DEC)
256-257
258-259
260-261
262-263
264-265
266-267
268-269
270-271
272-273
...
378-379
380-381
382-383
58 | Danfoss A/S © 2023.09
Gateway
CANopen slave input buffer
(254 bytes)
CANopen slave control command
output buffer (254 bytes)
CANopen slave status input buffer
0100H–017EH
30257–30383
0100H–017EH
CANopen slave status input buffer
1 (256) node state (257)
2 node state
3 node state
4 node state
5 node state
6 node state
7 node state
8 node state
9 node state
... ...
125 node state
126 node state
127 node state
Heartbeat or Lifeguard
NMT Command
Control command output buffer
0100H–017EH
40257–40383
0100H–017EH
Control command output buffer
1 (256) control command (257)
2 control command
3 control command
4 control command
5 control command
6 control command
7 control command
8 control command
9 control command
... ...
125 control command
126 control command
127 control command
AQ454734633756en-000101 / 172K1112
CANopen