Fuji Electric FRENIC-Ace series, Руководство пользователя

Страница: 552 / 788

9.2 CANopen Communication
9-28
Index
(Hex) Sub
Name Description Data type Data hold Access
1802
- 3rd Transmit PDO Communication Parameter RECORD - -
0 Largest sub-index Maximum sub-index No.: 5 UNSIGNED8 - R
1 COB-ID
COB-ID of TPDO No.3
Default value: 0x380 + 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
1A00
- 1st Transmit 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: 0x60410010 (Statusword) UNSIGNED32 - RW
2 PDO mapping entry2 Default value: No mapping UNSIGNED8 - RW
3 PDO mapping entry3 Default value: No mapping UNSIGNED8 - RW
4 PDO mapping entry4 Default value: No mapping UNSIGNED32 RW
1A01
- 2nd Transmit 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: 0x60410010 (Statusword) UNSIGNED32 - RW
2 PDO mapping entry2 Default value: 0x60440010 (vl control effort) UNSIGNED32 - RW
3 PDO mapping entry3 Default value: No mapping UNSIGNED8 - RW
4 PDO mapping entry4 Default value: No mapping UNSIGNED32 - RW
1A02
- 3rd Transmit PDO Mapping Parameter RECORD - -
0 Number of mapped
objects
Number of mapped objects: 4 UNSIGNED8 - R
1 PDO mapping entry1
Fixed value: 0x5F030110
(reading function code mapping 1)
UNSIGNED32 - R
2 PDO mapping entry2
Fixed value: 0x5F030210
(reading function code mapping 2)
UNSIGNED32 - R
3 PDO mapping entry3
Fixed value: 0x5F030310
(reading function code mapping 3)
UNSIGNED32 - R
4 PDO mapping entry4
Fixed value: 0x5F030410
(reading function code mapping 4)
UNSIGNED32 - R
*1: The change of COB-ID will be possible after writing one into the bit 31.
*2: The change of Inhibit timer is possible when the related PDO is invalid (COB-ID’s bit 31 is one).
*3: Because CAN communication setting is also initialized, communication may be not possible after
execution. For CAN communication execution, may be necessary to set again the related function
codes of the drive (refer to Section 9.2.3 ).