Pdo1 Rx - ABB NCAN-02 Installation And Startup Manual

PDO1 Rx

NCAN-02 Installation and Start-up Guide
The PDO1 Rx object is received by the drive as Data set 1 (or Data set
10 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO1 Rx is as follows:
Master to Slave
Header
1
Control Word
0100xxxxxxxryyyy
(2001h/6040h)
0100 = COB ID Function code
xxxxxxx = Node ID
r = RTR (Remote Transmit Request) bit
yyyy = Data length
The drive switches between the states of the CANopen State Machine
(shown further below) according to the bits of the Control Word.
Note: If Fieldbus Parameter 5 (COMM PROFILE) is set to
TRANSPARENT, the Control Word of the drive is applied. See the drive
documentation. In this case it is assumed that PDO1 Rx bytes 1 and 2
are defined as being Control Word.
Control Word
Bit Description
0 Switch on
1 Disable voltage
2 Quick stop
3 Enable operation
4 Ramp function generator disable
5 Ramp function generator stop
6 Ramp function generator zero
7 Reset fault
8 Halt
9 (reserved)
10 (reserved)
11 External control location (ABB drives)
12 (reserved)
13 (reserved)
14 (reserved)
15 (reserved)
References 1 and 2 are 16-bit words each containing a sign bit and a
15-bit integer. In order to use these References, the drive must have
the NCAN-02 selected as the source. In the drive, references can also
be scaled, limited or corrected. See the drive documentation for further
information.
Chapter 6 – Communication
Byte
2 3 4
Reference 1 Reference 2
(2002h)
5 6
(2003h)
6-5