Fuji Electric FRENIC-Ace series, User Manual

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9.2 CANopen Communication
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Chap 9
[ 2 ] Receive PDO (from master to inverter)
(1) Receive PDO No.1
PDO No. Default COB-ID Name Re- map
1 0x200+Node ID Control word (Default) Yes
User-defined Yes
User-defined Yes
User-defined Yes
Controlword: Controls the inverter’s operation by operating the state machine with DSP 402

For information about Controlword and state machine with DSP 402, refer to “9.2.10 [ 1 ] Operation according
to CANopen’s drive profile (DSP 402)”.
(2) Receive PDO No.2
PDO No. Default COB-ID Name Re-map
2 0x300+Node ID Control word (Default) Yes
vl target velocity (r/min) (Default)
User-defined
Yes
User-defined Yes
Controlword: Controls the inverter’s operation by operating the state machine with DSP 402
vl target velocity: Speed command (r/min)

For information about Controlword, vl control effort, and state machine with DSP 402, refer to “9.2.10 [ 1 ]
Operation according to CANopen’s drive profile (DSP 402)””.
When you give the speed command (r/min), set the number of motor poles (P01/A15) properly
according to the applicable motor; otherwise the speed command (r/min) will be incorrect.
(3) Receive PDO No.3
This PDO is the ability to write data to the function code that is specified in advance. There are four types of
mapped function codes.
PDO No. Default COB-ID
Name
Re-map
3 0x400+Node ID Writing function code 1 (function code data specified by y25/o40) No
Writing function code 2 (function code data specified by y26/o41)
Writing function code 3 (function code data specified by y27/o42)
Writing function code 4 (function code data specified by y28/o43)

For information on how to set y25 to y28/o40 to o43, refer to “9.2.5 [ 2 ] (4) How to set the inverter function
codes y25 to y32/o40 to o43, o48 to o51 and Indexes 5E00, 5E01”.

For information about data format of the mapped inverter function codes, refer to RS-485 Communication
User’s Manual, Chapter 5 “5.2 Data Format”.
When the same function code is assigned by multiple inverter function codes, only the assignment by
the y / o code of the minimum number will be valid. (Example: If the same function code is mapped by
both o40 and o43, only the mapping with y25 / o40 becomes effective. y28 / o43 is assumed as nothing
is mapped.)
After the setup of y25 to y28 / o40 to o43, in order to make effective the settings in the inverter, restart
the inverter or issue the ResetNode service to the inverter from the CANopen master.
The object’s Indexes 5E00 sub 1 to 4 also can map the inverter function codes. In this case, the
mappings become effective immediately after the change. However, if the inverter is restarted or the
ResetNode service is issued, the mappings by y25 to y28 /o40 to o43 become effective.
The timing to make effective each receive PDO can be changed. Refer to “9.2.5 [ 4 ] Communication
parameters of receive PDO”, “(3) Transmission type”. The “change is reflected in the inverter
immediately after receive” by factory default.