NORD Drivesystems BU0260 - Manual (Page 44)

Supplementary Manual CANopen for NORDAC SK 20E
44 Subject to technical amendments BU 0260 GB
CANopen also enables direct access to the inputs and outputs of the BUS module. An example of the linking
of the relevant objects in the control unit is shown in the illustrations above.
4.5.3 PDO communication in drive profile DS 402 ("Velocity Mode")
For more simple applications (only speed setpoints) the Velocity Mode in device profile DS 402 is available.
For this, the profile must be activated in parameter (P168 [-01]) of the CANopen bus module SK xU4-CAO-…
(corresponds to the default setting).
Activation of the profile affects all the frequency inverters on the system bus in the same way. The profile is
only valid in parameter set 1.
The association of the objects in the drive profile Velocity Mode (Speed) can be seen from the following
illustration.
Source: Velocity Mode CiA DSP 402 V1.1 page 178
For the transfer of process data in profile mode, the status engine is implemented according to the CANopen
drive profile CiA DSP 402. In association with the drive profile, objects 0x6040 - 0x6044 are relevant instead of
objects 0x3000 - 0x3004.
BUS module Actual value - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-
index Bit Description
1 0x3005 0 0 Input 1
1 Input 2
2 Input 3
3 Input 4
BUS module Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word Index Sub-
index Bit Description
1 0x3004 0 0 Output 1
1 Output 2
PDO setpoint
Actual PDO
value