ABB FCAN-01, User Manual

Page: 117 / 176

Communication protocol 117
Tx PDO6
Note: The mapping entries of the Tx PDO6 can be configured
through CANopen object 1A05h or from the drive with fieldbus
configuration parameter group C (group 3).
The default COB ID for Tx PDO6 is 800 Node ID (Tx
PDO6 disabled), the default transmission type is 255 and the event
time is 0. These values can be changed with CANopen object
1605h or from the drive with parameters 16, 17 and 18 of the
fieldbus configuration group A (group 1).
Mapped
obj 1
Mapped
obj 2
Mapped
obj 3
Mapped
obj 4
Byte 1 2 3 4 5 6 7 8
CANopen object for
mapping
1A05h01 1A05h02 1A05h03 1A05h04
Mapping
parameter
2)
ACS355 Fixed
1)
FBA DATA
IN 4 FBA DATA
IN 5 FBA DATA
IN 6
ACSM1
ACS850
ACS880
FBA DATA
IN 5 FBA DATA
IN 6 FBA DATA
IN 7 FBA DATA
IN 8
1)
In ACS355 drives, the first mapping entry is fixed and it is always mapped to object
6041h Status word. The other mapping entries are configurable. In ACSM1,
ACS850 and ACS880 drives, all mapping entries are configurable.
2)
Configuration group C (group 3) (when parameter 04 CONF LOC = 1)