Operating Instructions

Communication over CANopen
6.2 SDO services
Fieldbuses
178 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
Access to non-mapped PZD objects
When you access objects that are not interconnected via the receive or transmit telegram,
you must also establish the interconnection with the corresponding CANopen parameters.
Overview
Figure 6-4 Access to non-mapped PZD setpoint objects
Figure 6-5 Access to non-mapped free PZD actual value objects
Figure 6-6 Access to non-mapped standardized PZD actual value objects
Example for interconnecting the control word with CANopen parameters:
ON/OFF1
p840[0] = r8795.0
No coast down activated
p0844[0] = r8795.1
No fast stop activated
p0848[0] = r8795.2
Enable operation
p0852[0] = r8795.3
Enable ramp
-function genera-
tor
p1140[0] = r8795.4
Continue ramp
-function gen-
erator
p1141[0] = r8795.5
Enable speed setpoint
p1142[0] = r8795.6
Acknowledge fault
p2103[0] = r8795.7
Stop
p8791 = r8795.8