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
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