Manual

7 CANopen Data transfer
BU 0260 GB Subject to technical amendments 91
7.4.1.2 PZD exchange via PDO telegram according to CANopen DS 301
Via a bus module, 3 frequency inverters are to be independently controlled in positioning operation with a
single speed and a single position.
Given:
Serial
No.
Device type Designation Motor Other
1
SK 2x5E
frequency inverter
FI 1 4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG1)
2
SK 2x5E
frequency inverter
FI 2 4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG2)
3
SK 2x5E
frequency inverter
FI 3 4-pole / n=1390 rpm / 50Hz
Motor with
CANopen absolute
value encoder
(AG3)
4
SK TU4-CAO
(with connection unit SK Ti4-TU-Bus)
CANopen technology unit (external)
Bus module
The bus module and FI 3 should always be the last physical subscribers on the system bus.
Relevant
bus system
Serial
No.
Step Comments
System bus
1 Set up system bus 24V supply of the system bus level necessary
(see Section 2.2.2.2 "Control connections
of the SK
CU4-CAO(-...)")
2 Set termination resistor

DIP switch "Bus termination, system bus" on CAO module
"ON"
 DIP switch "Bus termination, system bus" on FI 3 "ON"
 All other DIP switches to "OFF"
3
Set system bus
addresses
Setting of FI addresses preferably via DIP switches (see manual
BU0200):
 Bus module: fixed (at 5)
 FI 1: to 32
 FI 2: to 34
 FI 3: to 36
 AG1: to 33
 AG2: to 35
 AG3: to 37
4 System bus baud rate set to 250kBaud for FI, AG and bus module
(preset accordingly for FI and bus module)
5
System bus
communication
Make settings on each FI
 (P509): { 3 } "System bus"
 (P510 [-01 … -02]): { 0 } "Auto"
 (P543 [-01]): { 1 } "Actual frequency"
 (P543 [-02]): { 10 } "Actual position in inc. Low-Word"
 (P543 [-03]): { 15 } "Actual position in inc. High-Word"
 (P546 [-01]): { 1 } "setpoint frequency"
 (P546 [-02]): { 23 } "Setpoint position in inc. Low-Word"
 (P546 [-03]): { 24 } "Setpoint position in inc. High-Word"