Configuring the fieldbus
6.3 Communication over CANopen
Frequency inverters with Control Units CU230P-2 HVAC, CU230P-2 DP, CU230P-2 CAN
Operating Instructions, 01/2011, FW 4.4, A5E02430659B AD
165
6.3.2.6
Predefined connection set
When integrating the converter via the predefined connection set, the converter is
interconnected so that the motor can be switched-on via the control and a setpoint can be
entered without having to make any additional settings or requiring CANopen know-how. The
converter returns the status word and the speed actual value to the control.
In the factory, the converter is set to free PDO mapping. Changeover to the Predefined
Connection Set, see Section PDO and PDO services (Page 161).
Once you have made the settings for the predefined connection set, then in the screen form
"Control Unit/Communication/CAN", select the Operational status under the Network-
Management tab. You can then switch-on the motor from the control and enter a setpoint.
Data, which you transfer using the predefined connection set
•
TPDO 1 with
Control word 1
•
RPDO 1 with
Status word 1
•
TPDO 2 with
Control word 1 and speed setpoint
•
RPDO 2 with
Status word 1 and speed actual value
The COB IDs are calculated according to the following formula and entered into parameters
p8700, p8701, p8720 and 8721.
COB-Id for TPDO and RPDO in the Predefined Connection Set
•
COB-ID
TPDO
= 180 hex + Node-ID + ((TPDO-No. - 1) * 100 hex)
Example: COB-ID of the TPDO 2, (Node ID = C hex)
180 hex + C hex + ((2 - 1)*100 hex) = 18C hex + 100 hex = 28C hex is
required
•
COB ID
RPDO
= 200 hex + Node-ID + ((RPDO-No. - 1) * 100 hex)
Example: COB-ID of the 3rd RPDO, (Node ID = C hex)
200 hex + C hex + ((2 - 1) * 100 hex) = 20C hex + 100 hex = 30C hex is
required
Summary of Contents for SINAMICS G120 CU230P-2
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