NORD Drivesystems BU0260 - Manual (Page 39)

4 Commissioning
BU 0260 GB Subject to technical amendments 39
4.4 Gateway function
Up to four frequency inverters can be controlled via the bus module (see also Section 8.4 "System bus"). Each
FI is allocated its own PDO channel for the process data. For parameterisation, each FI in the bus module has
a separate allocated SDO channel. The allocation of the individual channels can be seen in the table in
Section 4.9.1 "Predefined Connection Set".
4.5 Communication
After conclusion of the individual initialisation phase, all participants in a CANopen network can be set to one
of three operational states.
According to the operational state:
 Subscribers can be configured via SDO messages (Pre-Operational),
 Can exchange process data via PDO messages (Operational) or
 Are disconnected from communication (Stopped), to the extent that only NMT messages can be
communicated.
The coordination of the operating states is carried out on the basis of a very simple network management by
an NMT master.
4.5.1 Network Management (NMT)
The individual states can be activated with the following commands:
Set network to Operational (Start Remote Node):
Identifier = 0x00 // data byte 0 = 0x01 // data byte 1 = 0x** (relevant node address)
Set network to Stopped (Stop Remote Node):
Identifier = 0x00 // data byte 0 = 0x02 // data byte 1 = 0x** (relevant node address)
Set network to Pre- Operational (Enter Pre - Operational):
Identifier = 0x00 // data byte 0 = 0x80 // data byte 1 = 0x** (relevant node address)
Reset Node
:
Identifier = 0x00 // data byte 0 = 0x81 // data byte 1 = 0x** (relevant node address)
Reset Communication:
Identifier = 0x00 // data byte 0 = 0x82 // data byte 1 = 0x** (relevant node address)
4.5.2 PDO communication
If a subscriber is in an "Operational" state, it is able to exchange process data via PDO messages.
A differentiation is made between Transmit PDOs (Tx), in which the bus module transmits the status data of up
to 4 connected frequency inverters, and Receive PDOs (Rx) in which it receives the relevant control data. The
4 Transmit and Receive PDOs are identified by different identifiers.
Transfer of PDOs is made without confirmation. The significance of the data transferred is determined by the
CAN identifiers being used and the PDO mapping. A maximum of 8 bytes of data are transferred.
NOTE
In principle, no settings are required to ensure the correct functioning of communication,
however various adaptations are possible if these are necessary for the communication
sequence required by the customer.
All PDO settings can be made via the relevant parameter. However, parameterisation via
the SDO parameter channel of the CANopen bus is also possible.
The settings which are made are permanently stored in the device.