ABB NCAN-02 User Manual

Chapter 6 – Communication
NCAN-02 Installation and Start-up Guide 6-9
PDO3 Tx The PDO3 Tx object is transmitted by the drive as Data set 6 (or Data
set 15 if NCAN-02 parameter DATA SET OFFSET is set to
FB D SET 10). The contents of PDO3 Rx is as follows:.
Actual values 6 to 8 are 16-bit words each containing a sign bit and a
15-bit integer. The values to be transmitted to the CAN bus master are
selected by drive parameters. See the drive documentation for more
information.
Asynchronous
transmission mode
PDO3 Tx is automatically transmitted to the CAN bus master in the
time interval defined in index 2000 Sub-index 3 (default 80 ms).
Automatic transmission is stopped when communication with the
master is lost.
PDO3 Tx is also transmitted every time PDO3 Rx is received.
Cyclic transmission mode PDO3 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO3 is started only after the
first receipt of Rx PDO3.
PDO4 Rx The PDO4 Rx object is received by the drive as Data set 7 (or Data set
16 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO4 Rx is as follows:
References 9 to 11 are 16-bit words each containing a sign bit and a
15-bit integer. The way in which these values are used by the drive
depends on its parameter settings. See the drive documentation for
more information.
Slave to Master
Header
Byte
123456
0111xxxxxxxryyyy
Actual Value 6
(2010h)
Actual Value 7
(2011h)
Actual Value 8
(2012h)
0101 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
Master to Slave
Header
Byte
123456
1010xxxxxxxryyyy
Reference 9
(2013h)
Reference 10
(2014h)
Reference 11
(2015h)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length

ABB NCAN-02 Specifications

General

Brand	ABB
Model	NCAN-02
Category	Control Unit
Language	English