Communication protocol 121PDO configuration via the CAN busThis section gives an example of how to configure PDOs via theCAN bus from the CANopen master. In this example, the followingPDO configuration is made:• Rx PDO1 (from master to drive): 6040h Control word and6042h vl target velocity• Tx PDO1 (from drive to master): 6041h Status word, 6044h vlcontrol effort and drive parameter 01.20• Tx PDO1 sent to the master at 100 ms intervalsSet the drive parameters as listed in the table below.Drive parameter1) Setting Description51.02 NODE ID 3 In this example, module node ID = 351.03 BIT RATE 0…5 Bit rate used on the CANopen network.See Drive configuration.51.04 CONF LOC 0 PDO configuration via CAN bus51.05 PROFILE 0 CiA 4021) The actual parameter group number depends on the drive type. For example, thefieldbus configuration parameter group A (group 1) equals to parameter group 51 indrives ACS355, ACSM1, ACS850 and ACS880 if the adapter is installed as fieldbusadapter A.
