FC 300 CANopen
34
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark
According to CMS the following services on Events are relevant:
•
Define Event
•
Store (and immediately Notify) Event
•
Read Event
The following CMS event object attributes are specified for event PDOs:
•
name: according to the CMS naming conventions with <application-specific-name> = "xPDOyyy"
with “yyy” as the number of the PDO, starting with 001, and with x = {“T”|”R”} for a receive or
transmit PDO.
•
user type: depending on the role-in-service of the device; transmitter of event data: server receiver
or requester of event data: client
•
class: Stored Event
•
priority: application specific, suggested between [2, 5]
•
data type: determined by corresponding PDO-mapping entry of the PDO
•
inhibit time: application specific
Receive PDO
The following overview shows the receive (read) PDOs:
PDO
No.
Index
Link to PDO
(COB-ID)
Mapping
Object Index
Mapping Object
Name
Comment
1
1400h
1 (200h)
6040h
controlword
controls the state
machine
6
1405h
2 (300h)
6040h
6042h
controlword
vl_target_velocity
(RPM)
controls the state
machine and the
nominal speed (vl)
21 1414h 3
(400h)
6040h
6042h
2F00/0h
2F00/1h
controlword
vl_target_velocity
(RPM)
pcd 0 (p1051/0)
pcd 1 (p1051/1)
22 1415h 4
(500h)
2F00/2h
2F00/3h
2F00/4h
2F00/5h
pcd 2 (p1051/2)
pcd 3 (p1051/3)
pcd 4 (p1051/4)
pcd 5 (p1051/5)
1
st
receive PDO (M): Control Word
Index
Subindex
Comment
Default Value
1400 h
0
number of entries
3
1
COB-ID used by PDO
200h + node-ID
2
transmission type
255
3
inhibit time
0
4
not used
-
1600 h
0
number of mapped objects
1
1
controlword
60400010 h