9.2 CANopen Communication
9-40
(3) Communication example
This section describes the communication example when running the inverter by using S06. In the description,
PDO No.3 is used. Besides, the following conditions are assumed:
• Node ID of inverter (y21 o31 of this communication card) =1
• Mapping of PDO No.3
y25 / o40=0206 (write function code 1=S06) y29 / o48=030E (read function code 1=M14)
y26 / o41=0205 (write function code 2=S05) y30 / o49=0309 (read function code 2=M09)
y27 / o42=0000 (write function code 3=none) y31 / o50=0000 (read function code 3=none)
y28 / o43=0000 (write function code 4=none) y32 / o51=0000 (read function code 4=none)
• Receive PDO Nos. 1 and 2 are invalid.
That is, Index 1400 sub1=0x80000201, Index 1401 sub1=0x80000301
• Transmit PDO Nos. 1 and 2 are invalid.
That is, Index 1800 sub1=0x80000181, Index 1801 sub1=0x80000281
• Other CANopen’s objects are set to default
• Inverter function code y98 =3
The format of PDO No.3 mapped above is as follows:
■ Receive PDO (from master to inverter)
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x401
S06
(L byte) (H byte)
S05
(L byte) (H byte)
Terminal command
assigned Disable
Terminal command
assigned Disable
■ Transmit PDO (from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x381
M14
(L byte) (H byte)
M09
(L byte) (H byte)
Terminal command
assigned Disable
Terminal command
assigned Disable
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