Manual

Supplementary Manual CANopen for NORDAC SK 20E
42 Subject to technical amendments BU 0260 GB
STW SW1 SW2 SW3
DOs
4.5.2.6 PDO transmission / access in USS Protocol Mode
The internal status machine of the frequency inverter (USS) applies for the transfer of process data. Access to
the individual frequency inverters is according to the following pattern (see Section 4.9.4 "Frequency inverter
objects (2000hex - 3005hex )").
In the following example of a VIPA control, the linking of the objects (control word and setpoint) of FI 1 to those
of the CANopen master is illustrated.
4th frequency inverter
Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word
Index Sub-index Description
0 0x3000 4 Control word (STW)
1 0x3002 10 Setpoint 1 (SW1)
2 0x3002 11 Setpoint 2 (SW2)
3 0x3002 12 Setpoint 3 (SW3)
3rd frequency inverter
Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word
Index Sub-index Description
0 0x3000 3 Control word (STW)
1 0x3002 7 Setpoint 1 (SW1)
2 0x3002 8 Setpoint 2 (SW2)
3 0x3002 9 Setpoint 3 (SW3)
2nd frequency inverter
Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word
Index Sub-index Description
0 0x3000 2 Control word (STW)
1 0x3002 4 Setpoint 1 (SW1)
2 0x3002 5 Setpoint 2 (SW2)
3 0x3002 6 Setpoint 3 (SW3)
1st frequency inverter
Setpoint - PDO in USS Protocol Mode
Sequence in CAN telegram
Indication in word
Index Sub-index Description
0 0x3000 1 Control word (STW)
1 0x3002 1 Setpoint 1 (SW1)
2 0x3002 2 Setpoint 2 (SW2)
3 0x3002 3 Setpoint 3 (SW3)
PDO setpoint
Gateway
mode