ABB FCAN-01, Руководство пользователя

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Communication protocol 121
PDO configuration via the CAN bus
This section gives an example of how to configure PDOs via the
CAN bus from the CANopen master. In this example, the following
PDO configuration is made:
•
Rx PDO1 (from master to drive): 6040h Control word and
6042h vl target velocity
•
Tx PDO1 (from drive to master): 6041h Status word, 6044h vl
control effort and drive parameter 01.20
•
Tx PDO1 sent to the master at 100 ms intervals
Set the drive parameters as listed in the table below.
Drive parameter
1)
Setting Description
51.02 NODE ID 3 In this example, module node ID = 3
51.03 BIT RATE 0…5 Bit rate used on the CANopen network.
See
Drive configuration .
51.04 CONF LOC 0 PDO configuration via CAN bus
51.05 PROFILE 0 CiA 402
1)
The actual parameter group number depends on the drive type. For example, the
fieldbus configuration parameter group A (group 1) equals to parameter group 51 in
drives ACS355, ACSM1, ACS850 and ACS880 if the adapter is installed as fieldbus
adapter A.