NORD Drivesystems BU0550 - Manual (Page 69)

3 AWL (Instruction List, IL)
BU 0550 GB-0813 69
3.5.7 CANopen
Via function blocks the PLC can configure and monitor PDO channels and transmit on them. The PDO can
transmit or receive up to 8 bytes of process data via a PDO. Each of these PDOs is accessed via an
individual address (COB-ID). Up to 20 PDOs can be configured in the PLC. For simpler operation, the COB-
ID is not entered directly. Instead, the device address and the PDO number are communicated to the FB.
The resulting COB-ID is determined on the basis of the Pre-Defined Connection Set (CiA DS301). This
results in the following possible COB-IDs for the PLC.
Transmit PDO Monitored PDO
PDO COB-ID PDO COB-ID
PDO1 200h + Device address PDO1 180h + Device address
PDO2 300h + Device address PDO2 280h + Device address
PDO3 400h + Device address PDO3 380h + Device address
PDO4 500h + Device address PDO4 480h + Device address
PDO5 180h + Device address PDO5 200h + Device address
PDO6 280h + Device address PDO6 300h + Device address
PDO7 380h + Device address PDO7 400h + Device address
PDO8 480h + Device address PDO8 500h + Device address
Table 94 Resulting COB-IDs
NORD inverters use PDO1 to communicate process data. PDO2 is only used for setpoint/actual value 4 and 5.
3.5.7.1 Overview
Function module Explanation
FB_PDOConfig PDO configuration
FB_PDOSend Transmit PDO
FB_PDOReceive Receive PDO
FB_NMT Enable and bar PDO
Table 95 CANopen overview