Inovance MD800 Series Communications Guide

CANopen and CANlink Communication
‑50‑
RPDO
Group AF Address
TPDO
Group AF Address
RPDO3
Sub‑index 1
AF‑16 TPDO3
Sub‑index 1
AF‑48
AF‑17 AF‑49
Sub‑index 2
AF‑18
Sub‑index 2
AF‑50
AF‑19 AF‑51
Sub‑index 3
AF‑20
Sub‑index 3
AF‑52
AF‑21 AF‑53
Sub‑index 4
AF‑22
Sub‑index 4
AF‑54
AF‑23 AF‑55
RPDO4
Sub‑index 1
AF‑24 TPDO4
Sub‑index 1
AF‑56
AF‑25 AF‑57
Sub‑index 2
AF‑26
Sub‑index 2
AF‑58
AF‑27 AF‑59
Sub‑index 3
AF‑28
Sub‑index 3
AF‑60
AF‑29 AF‑61
Sub‑index 4
AF‑30
Sub‑index 4
AF‑62
AF‑31 AF‑63
One PDO can be configured with four mappings. Configuring one mapping requires
operating two parameters in group AF to achieve 32‑bit data whose upper 16 bits are
an object dictionary index and lower 16 bits (parameter No.) are the object dictionary
sub‑index and object length. The object length is calculated in bits. Mapping object
format must meet the following requirements: 311615870.
Index Sub‑index Object Length
Group AF upper bits Group AF lower bits
‑
According to the correspondence between the parameters and the object dictionary,
when a parameter needs to be mapped to a PDO, you need only to write into group
AF an object dictionary index and sub‑index and data length corresponding to a
parameter according to the preceding rules.
For example, to configure two mappings in RPDO1, where one directs at F0‑01 and
the other is an object dictionary object 0x6060‑00, perform the following operation:

Inovance MD800 Series Specifications

General

Brand	Inovance
Model	MD800 Series
Category	DC Drives
Language	English