12 | Fieldbus Guide | Version 1.02 www.invertekdrives.com
5
CAN
5.4. PDO Default Mapping
Objects
No.
Mapped
Object
Length Mapped Function Transmission Type
For information
on the values
RX
PDO1
1 2000h Unsigned 16 Control word
254
Valid immediately
Refer to section 11.1.
Control Registers on
page 54
2 2001h Integer 16 Frequency setpoint
3 2003h Unsigned 16 User ramp reference
4 0006h Unsigned 16 Dummy
TX
PDO1
1 200Ah Unsigned 16 Drive status register
254
Send after receiving
RX PDO 1
Refer to section 11.1.1.
Drive Control Word
PDO0 on page 54
2 200Bh Integer 16 Motor speed Hz
3 200Dh Unsigned 16 Motor current
4 2010h Integer 16 Drive temperature
RX
PDO2
1 0006h Unsigned 16 Dummy
254
2 0006h Unsigned 16 Dummy
3 0006h Unsigned 16 Dummy
4 0006h Unsigned 16 Dummy
TX
PDO2
1 2011h Unsigned 16 DC bus voltage
254
2 2012h Unsigned 16 Digital input status
3 2013h Integer 16 Analog input 1 (%)
4 2014h Integer 16 Analog input 2 (%)
5.5. PDO Transmission Type
Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:
Transmission Type Mode Description
0 – 240 Synchronous
The received data will be transferred to the drive active control register when the next sync
message is received.
254, 255 Asynchronous The received data will be transferred to the drive active control register immediately without delay.
For TX PDO, the following modes are supported:
Transmission Type Mode Description
0 Acyclic synchronous
TX PDO will only be sent out if the PDO data has changed and PDO will be transmitted on
reception of SYNC object.
1-240 Cyclic synchronous
TX PDO will be transmitted synchronously and cyclically. The transmission type indicates the
number of SYNC object that are.
254 Asynchronous TX PDO will only be transferred once corresponding RX PDO has been received.
255 Asynchronous TX PDO will only be transferred anytime if PDO data value has changed.
5.6. CAN Specific Object Table
Index Sub Index Function Access Type PDO Map Default Value
1000h 0 Device Type RO U32 N 0
1001h 0 Error Register RO U8 N 0
1002h 0 Manufacturer Status Register RO U16 N 0
1005h 0 COB-ID Sync RW U32 N 00000080h
1008h 0 Manufacturer Device Name RO String N ODE3
1009h 0 Manufacturer Hardware Version RO String N x.xx
100Ah 0 Manufacturer Software Version RO String N x.xx
100Ch 0 Guard Time (1ms) RW U16 N 0
100Dh 0 Lifetime Factor RW U8 N 0
1014 h 0 COB-ID EMCY RW U32 N 00000080h+Node ID
1015 h 0 Inhibit Time Emergency (100µs) RW U16 N 0
1 2011h Unsigned 16 DC bus voltage
1 2011h Unsigned 16 DC bus voltage
1 2011h Unsigned 16 DC bus voltage
1 2011h Unsigned 16 DC bus voltage
2 2012h Unsigned 16 Digital input status
2 2012h Unsigned 16 Digital input status
2 2012h Unsigned 16 Digital input status
2 2012h Unsigned 16 Digital input status
3 2013h Integer 16 Analog input 1 (%)
3 2013h Integer 16 Analog input 1 (%)
3 2013h Integer 16 Analog input 1 (%)
3 2013h Integer 16 Analog input 1 (%)
4 2014h Integer 16 Analog input 2 (%)
4 2014h Integer 16 Analog input 2 (%)
4 2014h Integer 16 Analog input 2 (%)
4 2014h Integer 16 Analog input 2 (%)
5.5. PDO Transmission Type
Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:
The received data will be transferred to the drive active control register when the next sync
254, 255 Asynchronous The received data will be transferred to the drive active control register immediately without delay.
254, 255 Asynchronous The received data will be transferred to the drive active control register immediately without delay.
254, 255 Asynchronous The received data will be transferred to the drive active control register immediately without delay.
For TX PDO, the following modes are supported:
TX PDO will only be sent out if the PDO data has changed and PDO will be transmitted on
reception of SYNC object.
TX PDO will be transmitted synchronously and cyclically. The transmission type indicates the
number of SYNC object that are.
Asynchronous TX PDO will only be transferred once corresponding RX PDO has been received.
Asynchronous TX PDO will only be transferred once corresponding RX PDO has been received.
Asynchronous TX PDO will only be transferred anytime if PDO data value has changed.
Asynchronous TX PDO will only be transferred anytime if PDO data value has changed.
5.6. CAN Specific Object Table
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