Start-up 597. If group 51 is selected as the source for the PDO configuration,define the process data transferred to and from the drive inFCAN-01 parameter groups 54 and 55.Note: If the PDO configuration is written from the PLC,parameters 5107…5124 are not used and the parametergroups 54 and 55 display the process data selected in thePLC.8. To validate the settings made in parameter groups 51, 54 and55, set parameter 5127 FBA PAR REFRESH to REFRESH.9. Set the relevant drive control parameters to control the driveaccording to the application.Examples of appropriate values are shown in the tables below. Parameter setting examples – ACS355CiA 402 vl velocity mode with default PDO mappingThe following example shows how to configure a basic speedcontrol application that uses the CiA 402 profile. The start/stopcommands are according to the CiA 402 profile velocity controlmode.Rx PDO1 and Tx PDO1 are enabled by default. In ACS355 drives,the first mapping entries of Rx PDO1 and Tx PDO1 are fixed andalways mapped to objects 6040h and 6041h.Note: The Tx PDO1 default transmission type is 255(asynchronous) and event time is 0. The event time should bechanged with CANopen object 1800h05 if the default transmissiontype is used.PDO Word 1 LengthRx PDO1 6040h Control word 16 bitsTx PDO1 6041h Status word 16 bits
