Vacon CANopen OPTE6, Руководство пользователя

Страница: 72 / 103

8
vacon • 72 CANopen option board interface
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
8.2.3.1 Receive PDO configuration
Configuration of the receive PDO configuration is the following, when the CiA-402 vl parameter set
is restored:
* Data inside 'FB PD in' varies according to the drive application and used settings.
* Data inside 'FB PD in' varies according to the drive application and used settings.
Table 69. Overview of Transmit PDO configuration in CiA-402 vl mode
Object COB-ID Size DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
TPDO1
0x180 +
Node ID
4
0x6041,
Statusword
0x6044,
vl Velocity Actual
Not used
TPDO2
0x80000280
+ Node ID
8
0x2001,4
FB PD out 1
0x2001,5
FB PD out 2
0x2001,6
FB PD out 3
0x2001,7
FB PD out 4
TPDO3
0x80000380
+ Node ID
8
0x2001,8
FB PD out 5
0x2001,9
FB PD out 6
0x2001,A
FB PD out 7
0x2001,B
FB PD out 8
Table 70. Receive PDO Mapping Parameter 1
Index Sub-index Value Name Data type Access
0x1600
0 2 Number of entries UNSIGNED8 r/w
1 0x60400010 Controlword UNSIGNED32 r/w
2 0x60420010 vl Target Velocity UNSIGNED32 r/w
Table 71. Receive PDO Mapping Parameter 2
Index Sub-index Value Name Data type Access
0x1601
0 4 Number of entries UNSIGNED8 r/w
1 0x20000410 FB PD in 1* UNSIGNED32 r/w
2 0x20000510 FB PD in 2* UNSIGNED32 r/w
3 0x20000610 FB PD in 3* UNSIGNED32 r/w
4 0x20000710 FB PD in 4* UNSIGNED32 r/w
Table 72. Receive PDO Mapping Parameter 3
Index Sub-index Value Name Data type Access
0x1602
0 4 Number of entries UNSIGNED8 r/w
1 0x20000810 FB PD in 5* UNSIGNED32 r/w
2 0x20000910 FB PD in 6* UNSIGNED32 r/w
3 0x20000A10 FB PD in 7* UNSIGNED32 r/w
4 0x20000B10 FB PD in 8* UNSIGNED32 r/w