Chapter 6 – Communication
6-6 NCAN-02 Installation and Start-up Guide
PDO1 Tx The PDO1 Tx object is transmitted by the drive as Data set 2 (or Data
set 11 if NCAN-02 parameter DATA SET OFFSET is set to
FB D SET 10). The contents of PDO1 Tx is as follows:
The drive indicates its state in the CANopen State Machine (shown
further below) with the bits of the Status Word.
Note: If Fieldbus Parameter 5 (COMM PROFILE) is set to
TRANSPARENT, the Status Word of the drive is applied. See the drive
documentation.
Actual values 1 and 2 are 16-bit words each containing a sign bit and a
15-bit integer. The values to be transmitted to the CAN bus master are
selected by drive parameters. See the drive documentation for further
information.
Asynchronous
transmission mode
PDO1 Tx is automatically transmitted to the CAN bus master in the
time interval defined in index 2000 Sub-index 1 (default 40ms).
Automatic transmission is stopped when communication with the
master is lost.
PDO1 Tx is also transmitted every time PDO1 Rx is received.
Slave to Master
Header
Byte
123456
0011xxxxxxxryyyy
Status Word
(2004h/6041h)
Actual Value 1
(2005h)
Actual Value 2
(2006h)
0011 = COB ID Function code
xxxxxxx = Node ID
r = RTR (Remote Transmit Request) bit
yyyy = Data length
Status Word
Bit Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3Fault
4 Voltage disabled
5 Quick stop
6 Switch-on disabled
7 Warning
8 External control location (ABB drives)
9Remote
10 Target reached
11 Internal limit active
12 (reserved)
13 (reserved)
14 Run enabled (ABB drives)
15 DDCS communication error (ABB drives)
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