3 Protocol Description of the MD38CAN2
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3.5 PDO AC Drive Operation
1)
RPDO AC Drive Operation
Three RPDOs are supported, namely, RPDO1, RPDO2, and RPDO3. The following table
describes the PDO mapping. For more details, see the MD380CANopen.eds file.
Table 3-8
RPDO mapping
RPDO
Name
Description
RPDO1
FE-00
AC drive control command
FE-01
AC drive set frequency
FE-02
FE-03
RPDO2
FE-04
FE-05
FE-06
FE-07
RPDO3
FE-08
FE-09
FE-10
FE-11
Drivecom: AC drive control command (The command source is communication control,
that is, F0-02 is set to 2.)
0001: Forward RUN
0002: Reverse RUN
0003: Forward jog
0004: Reverse jog
0005: Coast to stop
0006: Decelerate to stop
0007: Fault reset
Frequency: AC drive set frequency (The frequency source is communication setting, that
is, F0-03 is set to 9. The frequency unit is 0.01 Hz.)
2)
TPDO AC Drive Operation
Three TPDOs are supported, namely, TPDO1, TPDO2, and TPDO3. The following table
describes the PDO mapping. For more details, see the MD380CANopen.eds file.