Eaton PowerXL Series, Руководство по связи

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CANopen External Communication Cards
POWERXL SERIES VFD MN040010EN—June 2018 www.eaton.com
Process data (PDO)
The real time data transfer is performed by means of using the “Process Data Objects.” The transfer of PDOs is performed
with no protocol overhead. The Process Data is time-critical data used for control of the drive and monitor status.
Table 137. Process data (PDO)
RxPDO1
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x201 0 4 Control Word Target Velocity
TxPDO1
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x181 0 4 Status Word Control effort
RxPDO2
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x301 0 8 Motor Nominal Percentage Velocity deceleration delta speed Velocity deceleration delta time
TxPDO2
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x281 0 8 Motor Actual Percentage Torque % Current % Fault Code
RxPDO3
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x401 0 8 Fixed control word Speed reference Percentage FB_Process_data_in1 FB_Process_data_in2
TxPDO3
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x381 0 8 Fixed status word Actual speed Percentage FB_Process_data_out1 FB_Process_data_out2
RxPDO4
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x501 0 8 FB_Process_data_in3 FB_Process_data_in4 FB_Process_data_in5 FB_Process_data_in6
TxPDO4
Header Data
ID RTR LEN 1 2 3 4 5 6 7 8
0x481 0 8 FB_Process_data_out3 FB_Process_data_out4 FB_Process_data_out5 FB_Process_data_out6
Some drive actual values can be monitored by using a Process Data Object 2 (rx).
Addressing of the data in these addresses is based off the following scheme this is in a hex:
RxPDO1 = 0x200 + node ID(hex) RxPDO2 = 0x300 + node ID(hex) RxPDO3 = 0x400 + node ID(hex) RxPDO4 = 0x500 + node ID(hex)
TxPDO1 = 0x180 + node ID(hex) TxPDO2 = 0x280 + node ID(hex) TxPDO3 = 0x380 + node ID(hex) TxPDO4 = 0x480 + node ID(hex)
ote: N PDO1 and PDO2 should be used when in “Drive Mode” and PDO3 and PDO4 used in “Bypass Mode”.
vl_actual percentage Motor Speed. Scaled with percentage function
_torque_percentage Calculated torque. Scaled in 0.0%–100% (0–1000)
_current_percentage Measured motor current. (1 = 0.01 A)
fault_code Shows the drive fault code (= 0, if no fault active)