Emotron VS10 - Canopen Data Mapping

224 01-6203-01R3, CG Drives & Automation
8.5.8. CANopen data mapping
Data mapping serves to define which process data are transmitted cyclically via the
process data channels.
Details
Data mapping (in the case of CANopen also referred to as "PDO mapping") is
preconfigured for control of the inverter via the device profile CiA 402:
• RPDO1 = CiA 402 control word 0x6040 and Target velocity 0x6042 (P781.00).
• TPDO1 = CiA 402 status word 0x6041 (P780.00) and Velocity actual value 0x6044
(P783.00).
Variable PDO mapping
For individual drive solutions, the inverter supports "variable PDO mapping", providing 8
mapping entries in each case to assign 8-bit, 16-bit, and 32-bit parameters to a PDO in an
optional order. The total length of the parameters mapped, however, must not exceed 8
bytes.
The process of PDO mapping cannot be applied to all parameters. The
mappable parameters are marked correspondingly in the parameter
attribute list.
The process of variable PDO mapping only allows the following procedure:
1. Set PDO to "invalid": set bit 31 in the corresponding identifier (0x1400:1 ... 0x1402:1
or 0x1800:1 ... 0x1802:1) to "1".
2. Set PDO mapping to "invalid": Set subindex 0 in the mapping parameter (0x1600 ...
0x1602 or 0x1A00 ... 0x1A02) to "0".
3. Set desired PDO mapping via the corresponding mapping entries.
4. format: 0xiiiissll (iiii = hexadecimal index, ss = hexadecimal subindex, ll = hexadecimal
data length)
5. Set subindex 0 in the mapping parameter (0x1600 ... 0x1602 or 0x1A00 ... 0x1A02) to
a valid value (number of parameters mapped).
6. Reset PDO to "valid": set bit 31 in the corresponding identifier (0x1400:1 ... 0x1402:1
or 0x1800:1 ... 0x1802:1) to "0".
Parameter
Name / value range / [default setting]
Info
0x1600:000
RPDO1 mapping parameter: Number of mapped
application objects in PDO
0 ... [2] ... 8
Number of objects mapped in RPDO1.
0x1600:001
RPDO1 mapping parameter: Application object 1
0x00000000 ... [0x60400010] ... 0xFFFFFFFF
Mapping entry 1 for RPDO1.
0x1600:002
RPDO1 mapping parameter: Application object 2
0x00000000 ... [0x60420010] ... 0xFFFFFFFF
Mapping entry 2 for RPDO1.
0x1600:003
RPDO1 mapping parameter: Application object 3
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 3 for RPDO1.
0x1600:004
RPDO1 mapping parameter: Application object 4
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 4 for RPDO1.
0x1600:005
RPDO1 mapping parameter: Application object 5
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 5 for RPDO1.
0x1600:006
RPDO1 mapping parameter: Application object 6
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 6 for RPDO1.
0x1600:007
RPDO1 mapping parameter: Application object 7
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 7 for RPDO1.
0x1600:008 RPDO1 mapping parameter: Application object 8
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 8 for RPDO1.