NORD Drivesystems BU0260 User Manual
Page 91
7 CANopen Data transfer
BU 0260 GB
Subject to technical amendments
91
7.4.1.2 PZD exchange via PDO telegram according to CANopen DS 301
Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a
single speed and a single position.
Given:
Serial
No.
Device type
Designation
Motor
Other
1
SK 2x5E
frequency inverter
FI 1
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG1)
2
SK 2x5E
frequency inverter
FI 2
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG2)
3
SK 2x5E
frequency inverter
FI 3
4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG3)
4
SK TU4-CAO
(with connection unit SK Ti4-TU-Bus)
CANopen technology unit (external)
Bus module
The bus module and FI 3 should always be the last physical subscribers on the system bus.
Relevant
bus system
Serial
No.
Step
Comments
System bus
1
Set up system bus
24V supply of the system bus level necessary
(see Section 2.2.2.2 "Control connections
of the SK
CU4-CAO(-...)
")
2
Set termination resistor
DIP switch "Bus termination, system bus" on CAO module
"ON"
DIP switch "Bus termination, system bus" on FI 3 "ON"
All other DIP switches to "OFF"
3
Set system bus
addresses
Setting of FI addresses preferably via DIP switches (see manual
BU0200):
Bus module:
fixed (at 5)
FI 1:
to 32
FI 2:
to 34
FI 3:
to 36
AG1:
to 33
AG2:
to 35
AG3:
to 37
4
System bus baud rate
set to 250kBaud for FI, AG and bus module
(preset accordingly for FI and bus module)
5
System bus
communication
Make settings on each FI
(P509):
{ 3 } "System bus"
(P510 [-01 … -02]): { 0 } "Auto"
(P543 [-01]):
{ 1 } "Actual frequency"
(P543 [-02]):
{ 10 } "Actual position in inc. Low-Word"
(P543 [-03]):
{ 15 } "Actual position in inc. High-Word"
(P546 [-01]):
{ 1 } "setpoint frequency"
(P546 [-02]):
{ 23 } "Setpoint position in inc. Low-Word"
(P546 [-03]):
{ 24 } "Setpoint position in inc. High-Word"