Danfoss VLT CANopen MCA 105 - PDO Mapping Syntax; PDO Transmission Modes; PDO Triggering Modes; Inhibit Time

4.1.2 PDO Mapping Syntax
Sub-index 1–4 contains the mapped objects.
Example: Object 6041 status word is xed in PDO 1 and
PDO 2 as the rst transmit-word.
That is, OD 1A00h and 1A01h sub-index 1 holds the value
of 60410010 (6041 = object number, 00 = sub-index, 10 =
length of data = 16 bits)
Example: To map parameter 16-14 Motor current (32-bit
data) in PDO 3, it must be mapped in 2 PDO-words.
Parameter 16-14 Motor current is according to manufacturer
object 264E.
1A02h [3] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
1A02h [4] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
4.1.3 PDO Transmission Modes
Sub-index 2 contains the setting of the transmission mode.
The following PDO transmission modes are distinguished:
•
Synchronous transmission.
•
Asynchronous transmission.
4.1.4 PDO Triggering Modes
The CANopen communication prole distinguishes 2
message triggering modes:
•
Event driven.
•
Remotely requested.
Event driven
Message transmission is triggered by the occurrence of an
object-specic event.
For synchronous PDOs, this is the expiration of the
specied transmission period, synchronised by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDO’s, the triggering of a message
transmission is an application-specic event specied in
the device prole.
Remotely requested
The transmission of asynchronous PDO’s may be initiated
on receipt of a remote request initiated by another device.
Transmission
type
PDO transmission
Cyclic Acyclic Synchronous Asynchronous RTR
only
0 x x
1–240 x x
241–251 Reserved
252
Not supported
253
254 x
255 x
Table 4.3 PDO Transmission
4.1.5 Inhibit Time
Sub-index 3 contains the inhibit time.
This time denes a minimum interval for PDO transmission.
The value is dened as multiple of 0.1 ms.
Default value is 300 = 30 ms.
Minimum value is 0.
Maximum value is 32767 = 3.2 s.
Data length = 2 bytes.
4.1.6 Event Timer
Sub-index 5 contains the inhibit time for transmit PDOs.
If an event timer is congured for a TPDO (value not equal
to 0), the elapsed timer causes the transmission of this
TPDO.
The event timer can be congured as multiple of 1 ms.
Default value is 0.
Maximum value is 32767 = 32 s.
Data length = 2 bytes.
Control Programming Guide
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