Version 1.02 | Fieldbus Guide | 13www.invertekdrives.com
5
CAN
Index Sub Index Function Access Type PDO Map Default Value
1016 h
0 Consumer Heartbeat Time No. of entries RO U8 N 1
1 Consumer Heartbeat Master Node & Time RW U32 N 0
1017 h 0 Producer Heartbeat Time (1ms) RW U 16 N 0
1018 h
0 Identity Object No. Of entries RO U8 N 4
1 Vendor ID RO U32 N 0x0000031A
2 Product Code RO U32 N Drive Dependent
3 Revision Number RO U32 N x.xx
4 Serial Number RO U32 N Drive Dependent
1200h
0 SDO Parameter No. Of entries RO U8 N 2
1 COB-ID Client -> Server (RX) RO U32 N 00000600h+Node ID
2 COB-ID Server -> Client (TX) RO U32 N 00000580h+Node ID
1400h
0 RX PDO1 comms param. no. of entries RO U8 N 2
1 RX PDO1 COB-ID RW U32 N 40000200h+Node ID
2 RX PDO transmission type RW U32 N 254
1401h
0 RX PDO2 comms param. no. of entries RO U8 N 2
1 RX PDO2 COB-ID RW U32 N C0000300h+Node ID
2 RX PDO2 transmission type RW U8 N 0
1600h
0 RX PDO1 1 mapping / no. of entries RW U8 N 4
1 RX PDO1 1st mapped object RW U32 N 20000010h
2 RX PDO1 2nd mapped object RW U32 N 20010010h
3 RX PDO1 3rd mapped object RW U32 N 20030010h
4 RX PDO1 4th mapped object RW U32 N 00060010h
1601h
0 RX PDO2 1 mapping / no. of entries RW U8 N 4
1 RX PDO2 1st mapped object RW U32 N 00060010h
2 RX PDO2 2nd mapped object RW U32 N 00060010h
3 RX PDO2 3rd mapped object RW U32 N 00060010h
4 RX PDO2 4th mapped object RW U32 N 00060010h
1800h
0 TX PDO1 comms parameter number of entries RO U8 N 3
1 TX PDO1 COB-ID RW U32 N 40000180h+Node ID
2 TX PDO1 transmission type RW U8 N 254
3 TX PDO1 Inhibit time (100µs) RW U 16 N 0
1801h
0 TX PDO2 comms param no. of entries RO U8 N 3
1 TX PDO2 COB-ID RW U32 N C0000280h+Node ID
2 TX PDO2 transmission type RW U8 N 0
3 TX PDO2 Inhibit time (100µs) RW U 16 N 0
1A00h
0 TX PDO1 mapping / no. of entries RW U8 N 4
1 TX PDO1 1st mapped object RW U32 N 200A0010h
2 TX PDO1 2nd mapped object RW U32 N 200B0010h
3 TX PDO1 3rd mapped object RW U32 N 200D0010h
4 TX PDO1 4th mapped object RW U32 N 20100010h
1A01h
0 TX PDO2 mapping / no. of entries RW U8 N 4
1 TX PDO2 1st mapped object RW U32 N 20110010h
2 TX PDO2 2nd mapped object RW U32 N 20120010h
3 TX PDO2 3rd mapped object RW U32 N 20130010h
4 TX PDO2 4th mapped object RW U32 N 20140010h
5.7. Parameter Access
All user adjustable parameters are accessible through the CAN communication interface. The Programming Guide document provides
the Index for each parameter along with any scaling or information how the data for each parameter is stored.
5.8. Additional Status Indices
Further additional status Indices are present in the drive. These are described in section 11. Control & Status Registers on page 54.
0 RX PDO2 comms param. no. of entries
0 RX PDO2 comms param. no. of entries
RX PDO2 transmission type
0 RX PDO1 1 mapping / no. of entries
0 RX PDO1 1 mapping / no. of entries
RX PDO1 1st mapped object
RX PDO1 2nd mapped object
RX PDO1 3rd mapped object
RX PDO1 4th mapped object
0 RX PDO2 1 mapping / no. of entries
0 RX PDO2 1 mapping / no. of entries
RX PDO2 1st mapped object
RX PDO2 2nd mapped object
RX PDO2 3rd mapped object
RX PDO2 4th mapped object
0 TX PDO1 comms parameter number of entries
0 TX PDO1 comms parameter number of entries
TX PDO1 transmission type
TX PDO1 Inhibit time (100µs)
0 TX PDO2 comms param no. of entries
0 TX PDO2 comms param no. of entries
TX PDO2 transmission type
TX PDO2 Inhibit time (100µs)
TX PDO1 mapping / no. of entries
TX PDO1 1st mapped object
TX PDO1 2nd mapped object
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