Fuji Electric FRENIC-Ace series, User Manual

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9.2 CANopen Communication
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(4) Inhibit time
Set the minimum transmission interval (unit: 0.1 ms) for transmitting each PDO. All transmission types depend on
this setting.
It is possible to change Inhibit time only when the PDO is invalid, that is, COB-ID’s bit 31 is set to one.
If a smaller value is set for the Inhibit time, the data transmission frequency becomes higher, thereby
increasing the CANopen communication traffic. As a result, the performance of the whole CANopen
network may be degraded. Please adjust the setting value according to the network configuration used.
(5) Event timer
Set the periodical transmission interval (unit: 1 ms) for transmit PDO. Valid when the transmission type is 254 or
255.
[ 6 ] Changing PDO (RPDO/TPDO) mapping entry
Follow the procedure below to change mapping entries:
(1) Disable the PDO by changing the bit 31 of the relevant COB-ID entry to “1”.
Example) RPDO: Index 0x1400, Subindex 1, Bit31 = 1
TPDO: Index 0x1800, Subindex 1, Bit31 = 1
(2) Disable the PDO mapping by writing 0h in the subindex 0h of the relevant mapping entry.
Example) RPDO: Disable the current mapping and set Index 0x1600, Subindex 0 = 0.
TPDO: Disable the current mapping and set Index 0x1A00, Subindex 0 = 0.
(3) Configure the target new PDO mapping.
Example) RPDO: ndex 0x1600, Subindex 1 through 4 = New object
TPDO: Index 0x1A00, Subindex 1 through 4 = New object
(4) Set the subindex 0h of the relevant mapping index to the number of objects to be mapped (n).
Example) RPDO: Index 0x1600, Subindex 0 = n
TPDO: Index 0x1A00, Subindex 0 = n
(5) Enable the PDO by changing the bit 31 of the relevant COB-ID entry to “0”.
Example) RPDO: Index 0x1400, Subindex 1, Bit31 = 0
TPDO: Index 0x1800, Subindex 1, Bit31 = 0