64 | Optidrive P2 User Guide | Version 3.00 www.invertekdrives.com
9.3.4. Default PDO Mapping
Table 1 : Messages and COB-IDs
Type Objects No. Mapped Object Length Mapped Function Transmission
RX
PDO 1
1 2000h Unsigned 16 Control command register
254
Valid immediately
2 2001h Integer 16 Speed reference
3 2002h Integer 16 Torque reference
4 2003h Unsigned 16 User ramp reference
TX
PDO1
1 200Ah Unsigned 16 Drive status register
254
Send after receiving
RX PDO1
2 200Bh Integer 16 Motor speed Hz
3 200Dh Unsigned 16 Motor current
4 200Eh Integer 16 Motor torque
SDO (RX)
Error Control
1 0006h Unsigned 16 Dummy
254
2 0006h Unsigned 16 Dummy
3 0006h Unsigned 16 Dummy
4 0006h Unsigned 16 Dummy
TX
PDO2
1 200Fh Unsigned 16 Motor power
254
2 2010h Integer 16 Drive temperature
3 2011h Unsigned 16 DC bus value
4 200Ch Integer 16 Motor speed (Internal data format)
* Drive control can only be achieved when P1-12=6
9.3.5. Supported PDO Transmission Types
Various transmission modes can be selected for each PDO.
For RX PDO, the following modes are supported:
Table 3: RX PDO Transmission Mode
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:
Table 3: RX PDO Transmission Mode
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 necessary to trigger TX PDO.
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.
9
Serial Communications
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