NORD Drivesystems BU0260 - Manual (Page 45)

4 Commissioning
BU 0260 GB Subject to technical amendments 45
Illustration in the tables: Association with FI 1 – 4, bus modules DI/Os 0x60... parameter P168, P165, dynamic
mapping.
In this mode the digital inputs and outputs can only be mapped into the PDO via the objects 0x60FD and
0x60FE (see Section 4.9.3 "CANopen objects DSP402 – drive profile").
4.5.4 SDO communication
In order to exchange parameter data, the participants can communicate via SDOs.
In order to access the various frequency inverters in Gateway mode (see Section 4.9.1 "Predefined
Connection Set") the SDOs must be enabled. Enabling of the relevant SDO channels is made via parameter
(P160) of the CANopen technology unit.
4.5.4.1 Dynamic PDO mapping
The technology units SK xU4-CAO-... support so-called "Dynamic PDO mapping". This means that the
information content of the PDOs can be changed. Mapping of the PDOs is not necessarily carried out by
means or NORD parameterisation tools (NORDCON software or ParameterBox SK PAR-3H), but can also be
performed directly via the CANopen protocol with the aid of SDOs. A detailed example of this is described in
Section 7.4.2.3 "Application-specific mapping".
4.5.4.2 Structure of SDO telegrams
Access to all parameters of the frequency inverters connected to a common system bus is carried out via so-
called service data objects (SDO). Access is via handshake between client and server, i.e. after a message is
transmitted, the response must be waited for before a new message can be sent.
Only one TxSDO and one RxSDO are assigned to each frequency inverter in the object data set of the
associated field bus module SK xU4-CAO-... As delivered, only the SDO for the frequency inverter FI 1 is
enabled in the bus module. All further frequency inverters (FI 2 ... FI 4) these must be enabled as required via
parameter (P160 [-03] ... [-05].
The node ID of the CANopen BUS Module is set via its DIP switch (see Section 2.2.3 "Configuration"). The
Transmit and Receive IDs of the frequency inverters connected to this system bus result from the node ID and
the system bus address of the frequency inverter.
Transmit and receive addresses for SDO access as seen from the PLC:
Node ID x D Transmit I
  600 0
Node ID x Receive ID
  580 0
Frequency inverter Setpoint - PDO in „Drive and Motion Control“
Sequence in CAN telegram
Indication in word Index Sub-
index Description
0 0x6040 0 Status word
1 0x6042 0 Setpoint speed value
Frequency inverter Actual value - PDO in "Drive and Motion Control"
Sequence in CAN telegram
Indication in word Index Sub-
index Description
0 0x6041 0 Status word
1 0x6044 1 Actual speed value
PDO setpoint
Actual PDO
value
DS 402