Inovance MD800 Series - Operation Example (PDO)

CANopen and CANlink Communication
‑49‑
Table 3–19 Packet sent from the master for writing F0‑02
Packet ID (Hex)
RTR
Data (Hex)
0x606 0 2BF0200300000000
8. The following table shows the CANopen response packet from the AC drive. F0‑02 is
rewritten as "0", that is, the current command source is set to the operating panel.
Table 3–20 AC drive response to the request of writing F0‑02
Packet ID (Hex)
RTR
Data (Hex)
0x586 0 60F0200300000000
3.4.3 Operation Example (PDO)
The AC drive supports four RPDOs (RPDO1, RPDO2, RPDO3, and RPDO4) and four
TPDOs (TPDO1, TPDO2, TPDO3, and TPDO4). You can configure them as required.
You can configure the PDO mapping of the slave station on the operating panel.
Generally, use the CANopen master to configure a mapping. The AC drive also
supports any manual modification to parameters in group AF to configure a PDO
mapping. The following table shows the mapping relation of every PDO.
Table 3–21 PDO mapping table
RPDO
Group AF Address
TPDO
Group AF Address
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