User Manual

Communication over CANopen
6.3 PDO services
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
187
6.3.3
Interconnect objects from the receive and transmit buffers
To interconnect process data, proceed as follows:
Procedure
1. Create a telegram:
create PDO (parameterize the PDO Com. Parameters and PDO mapping parameters).
Predefined connection set (Page 182)
Free PDO mapping (Page 184)
2. Interconnect parameters:
Interconnect the parameters of the PZD buffer (r2050/r2060, p2051/p2061)
corresponding to the mapping of point "Create telegram" using the mapping table
r8750/r8760 or r8751/r8761. The mapping table indicates the position of a mapped
CANopen object in the PZD buffer.
You have now interconnected the process data.
❒
Interconnecting the receive buffer
The inverter writes the received data in the receive buffer:
● PZD receive word 1 … PZD receive word 12 double word in r2060[0] … r2060[10].
● PZD receive word 1 … PZD receive word 12 word in r2050[0] … r2050[11].
● PZD 1 … PZD 4 bit-by-bit in r2090.0 … r2090.15 to r2093.0 … r2093.15
The position of the mapped objects in the receive buffer is displayed in:
● r8760 for double word switching
● r8750 for word switching
Examples
Object
Mapped receive ob-
jects
Receive word r2050
Control word r8750[0] = 6040 hex
(PZD1)
Interconnect r2050[0] (PZD1) in
control word
1)
p0840.0 = 2090.0
p0844.0 = 2090.1
p08484.0 = 2090.
2
p0852.0 = 2090.3
p2130.0 = 2090.7
Torque limit r8750[1] = 5800 hex
(PZD2)
Interconnect r2050[1] (PZD2) in
the torque limit:
p1522 = 2050[1]
Speed setpoint r8750[2] = 6042 hex
(PZD3)
Interconnect r2050[2] (PZD3) in
the speed setpoint:
p1070 = 2050[2]
1) see also p8790, "Automatic CAN control word interconnection"