CANopen & CANlink Communication
‑54‑
4.4 Application
4.4.1 Data Frame Structure
The AC drive parameters specify the mapping mode between parameters and object
dictionary indexes, which facilitates operations on the parameters.
Mapping between the parameters and CANopen object dictionary indexes is
described as follows:
● Mapping mode
The parameter groups of the AC drive correspond to the indexes 0x2000‑0x20FF of
the CANopen object dictionary. To be specific, the high‑order 16 bits of a
parameter address plus 0x2000 is the index of the object dictionary, and the low‑
order 16 bits plus 1 is the sub‑index of the object dictionary.
Take the drive parameter F0‑03 as an example. Its communication address is
0xF003, and the corresponding object dictionary index is 0x20F0, and the sub‑
index is 0x04.
● Mapping
The AC drive has seven parameter groups: F0 to FF, A0 to AF, B0 to BF, C0 to CF, H0
to HF, L0 to LF, and U0 to UF.
The following table describes the mapping between the parameter groups and the
object dictionary indexes.
Table 4–11 Mapping between parameter groups and object dictionary indexes
Parameter Groups
CANopen Object Dictionary Index
F0 to FF 0x20F0 to 0x20FF
A0 to AF 0x20A0 to 0x20AF
B0 to BF 0x20B0 to 0x20BF
C0 to CF 0x20C0 to 0x20CF
H0 to HF 0x2080 to 0x208F
U0 to UF 0x2070 to 0x207F
L0 to LF 0x2090 to 0x209F
A sub‑index is the low‑order 16 bits of a parameter address plus 1. The following
table describes the mapping between parameter indexes in a group and the object
dictionary sub‑indexes.
Table 4–12 Mapping between parameter indexes in a group and object dictionary sub‑
indexes
Parameter Index CANopen Object Dictionary Index
0x0 to 0xFE 0x1 to 0xFF
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