Information for the CANopen master Issue 01/05
CANopen Option Module Operating Instructions
76 6SE6400-5BC00-0BP0
5.4 Setting-up the PDOs
The PDOs can either be configured using a CANopen master or using a
commissioning (start-up) tool. There are several restrictions when it comes to using
and configuring the PDOs due to the fact that the configuration parameters of the
CAN module are not available..
Section 5.6 discusses how parameters 2041.02 and P2041.03 are used to define
the mapping of PDOs 5 and 6 using a commissioning (start-up) tool.
It should be ensured, that at power-up of the PDOs, the default COB_Ids - as they
are described in the CANopen specification DS301, are set. It is not possible to
modify the 4 most significant bits of these COB_IDs. However, the drive can
change the 7 least significant bits of the COB_IDs as these comprise the CANopen
node ID.
The power-on values of the CANopen objects, that define the data transfer type of
the PDOs, can, under certain circumstances, deviate from the true values of the
objects in the inverter. This is the reason that we urgently recommend that these
objects are not saved using a "SAVE" command via object 0x1010. In fact, after
every power-on, they should be explicitly re-defined using CAN in order to avoid an
incorrect function.
The supported PDOs with their default values are as follows:
PDO
number
COB_ID Default mapping Comment
R_PDO_1 200H + node ID Control_word
Fixed mapping
Cannot be mapped
T_PDO_1 180H + node ID Status_word
Fixed mapping
Cannot be mapped
R_PDO_5 300H + node ID MICROMASTER 420/430:
Default: No mapping
Mapping via CANopen master
or with the low byte from parameter P2041.02
Refer to Section 5.6
T_PDO_5 280H + node ID MICROMASTER 420/430:
Default: No mapping
Mapping via CANopen master
or with the low byte from parameter P2041.02
Refer to Section 5.6
R_PDO_6 400H + node ID MICROMASTER 420/430/440:
Default: No mapping
Mapping via CANopen master
or with the low byte from parameter P2041.02
Refer to Section 5.6
T_PDO_6 380H + node ID MICROMASTER 420/430/440:
Default: No mapping
Mapping via CANopen master
or with the low byte from parameter P2041.02
Refer to Section 5.6
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