Chapter 6. Profile
79
6.2 PDO
Of the CiA 402 Drive and Motion Control, implemented for the PDO for the
frequency converter.
6.2.1 RPDO
The RPDO of the CiA 402 Profile are as follows;
Number of
RPDO
Support
Description
1
Mandatory Controls PDS FSA and Target velocity(vl)
2
Optional
Controls PDS FSA and Target velocity(vl), and
target torque(tq)
3
Optional
Manufacture Specification
IG5A CANopen supports RPDO1 and RPDO3 only.
The settings are for the receiving methods of the RPDOs.
The index of the communication parameter object of the RPDO1 is 0x1400.
The index of the communication parameter object of the RPDO3 is 0x1402.
The Sub Index parameters in the object are the same.
Sub
Index
Property
Description
0x01
Function
COB-ID (The unique CAN ID value of PDO)
Access
RW
Initial value
Node ID (RPDO1), Node ID
(RPDO3)
0x02
Function
Transmission Type
Access
RW
Initial value
255
Trans Mode according to the Transmission Type value
0: at the occurrence of SYNC, the master creates RPDO, which is
transmitted only when the data has been changed from the previous
value.
1~240: receiving SYNC for preset frequency, the RPDO is transmitted once.
252: not supported.
253: Not supported.
254: Manufacturer defined (varies by Master Type.)
255: transmits RPDO by Event Trigger.
