Vector CANcaseXL log Manual de usuario descargar pdf (Pagina 12)

2 Configuring / parameterizing

CANopen with SINAMICS G120

Version 1, Article ID: 53784866

Receive data

PDO1

1st word = control word of the sequence control

PDO2

1st word = control word of the sequence control

2nd word = speed setpoint (whereby the units correspond to revolutions/minute)

Send data

PDO1

1st word = status word of the sequence control

PDO2

1st word = status word of the sequence control

2nd word = speed actual value (whereby the units correspond to

revolutions/minute)

To use this option, proceed as follows:

The interface must be set to the "Preoperational" operating mode. Then select the

operating mode either under the "Network-Management" tab under

"Communication" -> "CAN" – or directly using parameter p8685 = [127]

"Preoperational". Then, in parameter p8744, select the option "[1] Predefined

Connection Set" and confirm the configuration with p8741 = [1].

The individual control signals of the drive as well as the speed setpoint and the

speed actual value should still be interconnected.

Example:

p701 = 0 (withdrawal pre-assignment dig. input 1)

p840 = r2090.0 (ON/OFF1 from PROFIdrive PZD1 bit 0)

p1070 = r2050.1 (speed setpoint from PROFIdrive PZD2)

p2051.0 = r52 (status word on PROFIdrive PZD1)

p2051.1 = r21 (smoothed speed actual value on PROFIdrive PZD2)

etc.

After this, the operating mode must be changed from "Preoperational" to

"Operational" in order to permit data transfer.

2.3.5 Free PDO mapping

The second option involves using free PDO mapping. In this case, the receive and

send data can be defined using the freely interconnectable communication objects.

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Vector CANcaseXL log Manual de usuario Pagina 12