Master B Drive
Note: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar 71. For example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO1 will be 6 bytes.
Example: The two default assignment parameters are maintained (16#6041/00 and 16#6044/00) and are suffixed (i.e., in bytes 4 and 5) with the "Torque Actual Value" motor torque parameter (16#6077/00), thereby producing the extended default assignment of transmit PDO1.
This extended default assignment then becomes a user assignment by means of the suffixing (i.e., in bytes 6 and 7) of the parameters of the current in the motor object "LCR" (16#2002/05), thereby producing the following user assignment:
Consider an Altivar 71 located at CANopen address 4 (COB-ID = 16#180 + 4) and in the following state:
• Current state = "Operation enabled" and no faults (status word "ETA" = 16#xxx7). In our example, the status word "ETA" is equal to 16#0607.
• The output speed "RFRD" is equal to 1500 rpm (16#05DC).
• The motor torque is equal to 83% (830 x 0.1% = 16#033E).
• The current in the motor "LCR" is equal to 4.0 A (16#0028).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
384 (16#180) +Node-ID
Altivar 71 variable (by default: status word
"ETA")
Altivar 71 variable (by default: output speed
"RFRD")
Altivar 71 variable (by default: no parameter)
Altivar 71 variable (by default: no parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
384 (16#180) +Node-ID
Status word "ETA" Output speed "RFRD" Motor torque "OTR" Current in the motor "LCR"
LSB MSB LSB MSB LSB MSB LSB MSB
16#184 16#07 16#06 16#DC 16#05 16#3E 16#03 16#28 16#00
Detailed description of services
Receive RPDO1 Master C Drive
Example: The first default assignment object is maintained (16#6040/00) but the second is deleted (16#6042/00), thereby producing the restricted default assignment of receive PDO1.
This restricted default assignment then becomes a user assignment by means of the suffixing of the Acceleration ramp time "ACC"/
"Acceleration" (16#203C/02) and Deceleration ramp time "DEC"/"Deceleration" (16#203C/03) parameters in bytes 2 to 5, thereby producing the following user assignment:
Consider an Altivar 71 located at CANopen address 4 (COB-ID = 16#200 + 4) and controlled as follows:
• "Enable operation" command (control word "CMD" = 16#xxxF). In our example, the control word "CMD" is equal to 16#000F.
• The acceleration ramp time "ACC" is 1 s (10 = 16#000A).
• The deceleration ramp time "DEC" is 2 s (20 = 16#0014).
The corresponding telegram received for this receive PDO is therefore as follows (6 data bytes):
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
512 (16#200) +Node-ID
Altivar 71 variable (by default: control word
"CMD")
Altivar 71 variable (by default: speed target
"LFRD")
Altivar 71 variable (by default: no parameter)
Altivar 71 variable (by default: no parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
512 (16#200) +Node-ID
Control word "CMD" Acceleration ramp time
"ACC"
Deceleration ramp time
"DEC"
LSB MSB LSB MSB LSB MSB
16#204 16#0F 16#00 16#0A 16#00 16#14 16#00
PDO2
Set PDO2 on the Altivar 71 is disabled by default ("PDO COB-ID entry" parameter = 16#80000XXX).
To enable it, use the SDO service in write mode to set bit 31 of the "PDO COB-ID entry" parameter in transmit PDO2 (16#1801/01) and/or receive PDO2 (16#1401/01) to zero.
Unlike set PDO1, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO2 in order to authorize slave-to-slave communication.
Transmit TPDO2 Master B Drive
Note: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar 71. For example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO2 will be 6 bytes.
Example: Assignment of 3 parameters: Last fault occurred "LFT" (16#2029/16), Current in the motor "LCR" (16#2002/05) and Motor power
"OPR" (16#2002/0C). This produces the following user assignment:
Consider an Altivar 71 located at CANopen address 4 (COB-ID = 16#280 + 4) and in the following state:
• The last fault occurred "LFT" is "nOF"/no fault stored (16#0000).
• The current in the motor "LCR" is equal to 4.0 A (16#0028).
• The motor power "OPR" is equal to 50% (16#0032).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
Receive RPDO2
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
640 (16#280) +Node-ID
Last fault occurred "LFT" Current in the motor "LCR" Motor power "OPR"
LSB MSB LSB MSB LSB MSB
16#284 16#00 16#00 16#28 16#00 16#32 16#00
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
LSB MSB LSB MSB LSB MSB LSB MSB
Detailed description of services
PDO3
This PDO set is reserved for the Altivar 71 "Controller Inside" programmable card and must only be used on a drive equipped with this card.
Set PDO3 on the Altivar 71 is disabled by default (bit 31 of PDO COB-ID entry = 1).
To enable it, use the SDO service in write mode to set bit 31 of the "PDO COB-ID entry" parameter in transmit PDO3 (16#1802/01) and/or receive PDO3 (16#1402/01) to zero.
Unlike set PDO2, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO3 in order to authorize slave-to-slave communication.
Unlike the assignment of PDO1 and PDO2 objects, the assignment of PDO3 objects cannot be modified.
Transmit TPDO3
Output word TP31 on the
"Controller Inside"
programmable card
Output word TP32 on the
"Controller Inside"
programmable card
Output word TP33 on the
"Controller Inside"
programmable card
Output word TP34 on the
"Controller Inside"
programmable card
LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1024 (16#400) +Node-ID
Input word RP31 on the
"Controller Inside"
programmable card
Input word RP32 on the
"Controller Inside"
programmable card
Input word RP33 on the
"Controller Inside"
programmable card
Input word RP34 on the
"Controller Inside"
programmable card
LSB MSB LSB MSB LSB MSB LSB MSB