Configuring the fieldbus
7.7 Communication over CANopen
Inverter with CU230P-2 Control Units
224 Operating Instructions, 11/2013, FW V4.6.6, A5E02430659B AG
Mapping the torque limit (p1520) with RPDO1
Procedure
Proceed as follows to accept the torque limit value in the communication:
1. Set the OV index for the torque limit:
first free OV index from the receive data from the "Free objects" 5800 table
2. Map the OV index for the torque limit with PZD2
– Set the COB-ID of RPDO1 to "invalid":
p8700[0] = 80000232 hex
– Link the mapping parameter object 2 of RPDO1 (p8710.1) with the OV index for the
torque limit:
p8710.1 = 58000010 hex (5800 = OV index, 00 = fixed value, 10 ≙ 16 bit value)
– Set the COB-ID of RPDO1 to "valid":
p8700[0] = 40000232 hex
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
This means you have transferred the value for the torque limit into the communication.
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