Inovance MD520 Series - Operation Instance (PDO)

CANopen & CANlink Communication
‑58‑
To set the command source to the operating panel, write 0 to F0‑02. The master
sends a CANopen message as described in the following table.
Table 4–19 Message sent from the master to write to F0‑02
Message ID (Hex)
RTR
Data (Hex)
0x606 0 2BF0200300000000
8. The AC drive returns a CANopen response message, as described in the following
table. The value of F0‑02 is changed to 0, indicating that the current command
source is the operating panel.
Table 4–20 Message returned by the AC drive when writing to F0‑02
Message ID (Hex)
RTR
Data (Hex)
0x586 0 60F0200300000000
4.4.3 Operation Instance (PDO)
The AC drive supports four RPDOs (RPOD1, RPDO2, RPDO3 and RPDO4) and four
TPDOs (TPOD1, TPDO2, TPDO3 and TPDO4), which can be configured as needed.
You can configure the PDO mapping for a slave by using the operating panel. You are
advised to use the CANopen master to configure a mapping. PDO mapping can be
configured by manually modifying parameters in group AF. The following table
describes PDO mapping.
Table 4–21 PDO mapping
RPDO
Address of Parameter in
Group AF
TPDO
Address of Parameter in
Group AF
RPDO1
Sub‑index 1
AF‑00 TPDO1
Sub‑index 1
AF‑32
AF‑01 AF‑33
Sub‑index 2
AF‑02
Sub‑index 2
AF‑34
AF‑03 AF‑35
Sub‑index 3
AF‑04
Sub‑index 3
AF‑36
AF‑05 AF‑37
Sub‑index 4
AF‑06
Sub‑index 4
AF‑38
AF‑07 AF‑39
RPDO2
Sub‑index 1
AF‑08 TPDO2
Sub‑index 1
AF‑40
AF‑09 AF‑41
Sub‑index 2
AF‑10
Sub‑index 2
AF‑42
AF‑11 AF‑43
Sub‑index 3
AF‑12
Sub‑index 3
AF‑44
AF‑13 AF‑45
Sub‑index 4
AF‑14
Sub‑index 4
AF‑46
AF‑15 AF‑47