Fuji Electric FRENIC-Ace series, User Manual

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9.2 CANopen Communication
9-27
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Chap 9
Index
(Hex) Sub
Name Description Data type Data hold Access
1600
- 1st Receive PDO Mapping Parameter RECORD - -
0 Number of mapped
objects
Number of mapped objects (up to 4)
Default value: 1
UNSIGNED8 - RW
1 PDO mapping entry1 Default value: 0x60400010 (Controlword) UNSIGNED32 - RW
2 PDO mapping entry2 Default value: No mapping UNSIGNED32 - RW
3 PDO mapping entry3 Default value: No mapping UNSIGNED32 - RW
4 PDO mapping entry4 Default value: No mapping UNSIGNED32 - RW
1601
- 2nd Receive PDO Mapping Parameter RECORD - -
0 Number of mapped
objects
Number of mapped objects (up to 4)
Default value: 2
UNSIGNED8 - RW
1 PDO mapping entry1 Default value: 0x60400010 (Controlword) UNSIGNED32 - RW
2 PDO mapping entry2
Default value: 0x60420010 (vl target
velocity)
UNSIGNED32 - RW
3 PDO mapping entry3 Default value: No mapping UNSIGNED32 - RW
4 PDO mapping entry4 Default value: No mapping UNSIGNED32 - RW
1602
- 3rd Receive PDO Mapping Parameter RECORD - -
0 Number of mapped
objects
Number of mapped objects: 4 UNSIGNED8 - R
1 PDO mapping entry1
Fixed value: 0x5F020110
(writing function code mapping 1)
UNSIGNED32 - R
2 PDO mapping entry2
Fixed value: 0x5F020210
(writing function code mapping 2)
UNSIGNED32 - R
3 PDO mapping entry3
Fixed value: 0x5F020310
(writing function code mapping 3)
UNSIGNED32 - R
4 PDO mapping entry4
Fixed value: 0x5F020410
(writing function code mapping 4)
UNSIGNED32 - R
1800
- 1st Transmit PDO Communication Parameter RECORD - -
0 Largest sub-index Maximum sub-index No.: 5 UNSIGNED8 - R
1 COB-ID
COB-ID of TPDO No.1
Default value: 0x180 + node ID
UNSIGNED32 Y RW
*1
2 Transmission type
Select the transmission type
Default value: 255
(Change of state event)
(refer to Table 9.2-11, Table 9.2-12)
UNSIGNED8 Y RW
3 Inhibit time
Waiting time for transmission (unit: 0.1 ms)
Default value: 100 (10.0 ms)
UNSIGNED16 Y RW
*2
5 Event timer
Periodical transmission interval (unit: 1 ms)
Transmission type
Valid at the time of 254 or 255.
Default value: 0 (not used)
UNSIGNED16 Y RW
1801
- 2nd Transmit PDO Communication Parameter RECORD - -
0 Largest sub-index Maximum sub-index No.: 5 UNSIGNED8 - R
1 COB-ID
COB-ID of TPDO No.2
Default value: 0x280 + node ID
UNSIGNED32 Y RW
*1
2 Transmission type
Select the transmission type
Default value: 255
(Change of state event)
(refer to Table 9.2-11, Table 9.2-12)
UNSIGNED8 Y RW
3 Inhibit time
Waiting time for transmission (unit: 0.1 ms)
Default value: 100 (10.0 ms)
UNSIGNED16 Y RW
*2
5 Event timer
Periodical transmission interval (unit: 1 ms)
Transmission type
Valid at the time of 254 or 255.
Default value: 0 (not used)
UNSIGNED16 Y RW