SEW MOVIDRIVE MDX60B, User Manual

Page: 48 / 144

48
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
5.4.2 Process data exchange
MOVIDRIVE
®
B can send up to 10 process input data words (PI data) and receive up to
10 process output data words via CANopen. 10 process data words can be assigned
different PDOs using CANopen mapping. The PDO transmission modes can be used to
optimize the bus load or define which process data words are to be sent and how often
the transmission is to take place. Process data words 1 to 3 can be directly processed
by the inverter. Process data words 4 to 10 can only be processed by IPOS
plus®
pro-
grams. Parameters P870 - P875 are used to define the function of process data words
1 - 3.
After communication has been reset, the following default settings apply:
• RX-PDO1 with PO1, PO2, PO3
• RX-PDO2 with PO4, PO5, PO6
• RX-PDO3 with PO7, PO8, PO9, PO10
• TX-PDO1 with PI1, PI2, PI3
• TX-PDO2 with PI4, PI5, PI6
• TX-PDO3 with PI7, PI8, PI9, PI10
• All RX-PDOs and TX-PDOs operate in the synchronous transmission mode.
• TX-PDO2 and TX-PDO3 are disabled and can be activated if required.
Configuring the
COB IDs After the communication/application has been reset, all COB IDs are reinitialized in
accordance with the DS301 CANopen standard depending on the CANopen slave
address (P886/P896).
The COB ID (32 bit value) is set up according to the following schema:
Index of the COB ID
(hex) Subindex of the COB ID
(hex) COB ID after communication
reset
RX-PDO1 1400
1
slave address
RX-PDO2 1401 slave address
RX-PDO3 1402 slave address
TX-PDO1 1800 40000 slave address
TX-PDO2 1801 C0000 slave address
TX-PDO3 1802 C0000 slave address
Bit Value Meaning
31
0 PDO is active
1 PDO is inactive
30
0 RTR may be used for this PDO
1 RTR may not be used for this PDO
29
0 11-bit CAN ID
1 29-bit CAN ID
28 - 11
0 Must always be "0" if bit 29 is "0"
X Bits 28 - 11 of the 29-bit COB ID if bit 29 is "1"
10 - 0 X Bits 10 - 0 of the COB ID