NORD Drivesystems BU0260 - Manual (Page 40)

Supplementary Manual CANopen for NORDAC SK 20E
40 Subject to technical amendments BU 0260 GB
4.5.2.1 Changing the COB-ID (address) of a PDO
Changes to the identifier of a PDO can only be made when the NMT status machine of the inverter is in the
"Pre-Operational" state.
Setting of the COB-ID of a PDO is made via the parameters (P160) and (P161) (and therefore in the objects
0x1400-0x1404 Sub. 1 or 0x1800-0x1804 Sub. 1). If possible, the default settings of these parameters should
be retained.
Alternatively, the settings can also be realised via the SDO parameter channel. Each Transmit and Receive
PDO has its own parameter for this setting (see the following table).
PDO Receive PDO Transmit PDO
PDO for FI 1 0x1400 Sub 1 0x1800 Sub 1
PDO for FI 2 0x1401 Sub 1 0x1801 Sub 1
PDO for FI 3 0x1402 Sub 1 0x1802 Sub 1
PDO for FI 4 0x1403 Sub 1 0x1803 Sub 1
PDO for bus module 0x1404 Sub 1 0x1804 Sub 1
Index table for inverter Transmit and Receive PDOs
This parameter is a 32 bit value, which includes other information in addition to the identifier.
Bit number Value Significance
31
0 PDO is active
1 PDO is switched off
30 1
Values cannot be changed
29 to 11 0
10 to 0 X PDO identifier ( COB-ID )
Description of PDO COB-ID entry
The PDO identifier is stored in bits 0 to 10. Bit 31 must be set to null, otherwise the PDO will be deactivated. If,
e.g. the identifier for a Transmit PDO is changed to 0x201, the value 0x40000201 must be entered in the
appropriate parameter.
The new identifier becomes valid by setting the NMT status machine to the "Operational" state.