NORD Drivesystems BU0060 - Manual (Page 96)

CANopen – Supplementary manual options for NORD - Frequency Inverters
96 BU 0060 GB-4112
Mapping:
Process data word 1 Process data word 2
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3
for Rx-PDO1 Object 3000 (control word) Object 3002 Sub 1 (setpoint 1)
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3
for Tx-PDO1 Object 3001 (status word) Object 3003 Sub 1 (actual
value 1)
Information Objects 3002 and 3003
Objects 3002 and 3003 can be used to specify which setpoint or actual value is to be transferred. The
significance of the setpoints or actual values is set using the parameters P543-P548 in the frequency inverter.
Information Little Endian data format
Data transfer is performed in Little Endian format. This means that in the data word, the High byte follows after
the Low byte. Example: "047E"
à 7E 04.
In order to be able to control the frequency inverter, the CANopen status must first be set to
“Operational”
Setting the frequency inverter to "Ready for switch-on"
After switching on, the frequency inverter is in “Switch-on block” status. It has to be switched to
"Standby" status using a control command. To do so, the control word “0x047E” must be transmitted.
The PDO telegram therefore has the following structure:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3
232
hex
7E
hex
04
hex
00
hex
00
hex
Order
1B2
hex
31
hex
0B
hex
00
hex
00
hex
Response
Enabling the frequency inverter with 50% of its maximum frequency
The drive unit is to operate at 50% of its maximum frequency. 100% corresponds to a setpoint of
4000
hex
. Therefore "0x047F" must be sent as the control word and "0x2000" must be sent as the
setpoint:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3
232
hex
7F
hex
04
hex
00
hex
20
hex
Order
1B2
hex
37
hex
0B
hex
00
hex
20
hex
Response