Lenze i550

12.9.3.1 Data mapping
Data mapping serves to dene which process data are transmied cyclically via the process
data channels.
Details
Data mapping (in the case of CANopen also referred to as "PDO mapping") is precongured
for control of the inverter via the device prole CiA 402:
•
RPDO1 = 0x6040 (CiA: Controlword) and 0x6042 (P781.00) (Target velocity).
•
TPDO1 = 0x6041 (P780.00) (CiA: Statusword) and 0x6044 (P783.00) (Velocity actual value).
Variable PDO mapping
The inverter supports variable PDO mapping for individual drive soluons. With 8 mapping
entries each, 8-bit, 16-bit and 32-bit parameters can be assigned to a PDO in any order.
The total length of the mapped parameters must not exceed 8 bytes. The PDO
mapping cannot be applied to all parameters. The mappable parameters are
marked correspondingly in the parameter aribute list. 4Parameter aribute
list ^ 660
The process of variable PDO mapping only allows the following procedure:
1.
Set PDO to "invalid": set bit 31 in the corresponding idener (0x1400:001 (P540.01)
...
0x1402:001 (P542.01) or 0x1800:001 (P550.01)
...
0x1802:001 (P552.01)) to "1".
2.
Set PDO mapping to "invalid": set subindex 0 in the mapping parameter (0x1600
...
0x1602 or 0x1A00
...
0x1A02) to "0".
3.
Set desired PDO mapping via the corresponding mapping entries.
Format: 0xiiiissll
(iiii = hexadecimal index,
ss = hexadecimal subindex,
ll = hexadecimal data length)
4.
Set subindex 0 in the mapping parameter (0x1600
...
0x1602 or 0x1A00
...
0x1A02) to valid value (number of mapped parameters).
5.
Set PDO back to "valid": set bit 31 in the corresponding idener (0x1400:001 (P540.01)
...
0x1402:001 (P542.01) or 0x1800:001 (P550.01)
...
0x1802:001 (P552.01)) to "0".
Parameter
Address Name / seng range / [default seng] Info
0x1600 RPDO1 mapping parameter: Number of mapped
applicaon objects in PDO
0 ... [2] ... 8
Number of objects mapped in RPDO1.
0x1600:001 RPDO1 mapping parameter: Applicaon object 1
0x00000000 ... [0x60400010] ... 0xFFFFFFFF
Mapping entry 1 for RPDO1.
0x1600:002 RPDO1 mapping parameter: Applicaon object 2
0x00000000 ... [0x60420010] ... 0xFFFFFFFF
Mapping entry 2 for RPDO1.
0x1600:003 RPDO1 mapping parameter: Applicaon object 3
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 3 for RPDO1.
0x1600:004 RPDO1 mapping parameter: Applicaon object 4
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Mapping entry 4 for RPDO1.
Conguring the network
CANopen
Process data transfer
356