3 Protocol Description of the MD38CAN2
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Table 3-9 RPDO mapping
TPDO Name Description
TPDO1
FE-20 AC drive running state (xed mapping)
FE-21 AC drive running frequency
FE-22
FE-23
TPDO2
FE-24
FE-25
FE-26
FE-27
TPDO3
FE-28
FE-29
FE-30
FE-31
Drive Status: AC drive running state
Bit0: 0 indicating stop, and 1 indicating running
Bit1: 0 indicating forward RUN, and 1 indicating reverse RUN
Bit2: 0 indicating no fault, and 1 indicating AC drive fault
Bit3: 0 indicating not reached, and 1 indicating set frequency reached
Bit4 to bit7: Reserved
Bit8 to Bit15: AC drive error code
Frequency: AC drive running frequency (The frequency unit is 0.01 Hz.)
Note: PDO mapping must contain the command word and status word.
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