Danfoss MCO 305 Design Manual page 190

MCO 305 Design Guide
CANopen Slave library
This library contains all functions which are necessary to act as a CANopen Slave. With special application
software, it would even be possible to behave like a DS402 drive.
To make that possible, a complete SDO dictionary is implemented, all functions necessary for supporting
PDO1..4, dynamic mapping of PDOs and transmission types supporting SYNC transfer, as well as inhibit time
and event time.
To use those functions, it is of course necessary that there is a unique node ID (par. 33-90 CANNR) on the
bus.
This functionality, for example, allows very easy communication between two controllers. So one controller
could easily write into the others object dictionary and vice versa. Or the PDO command could be used to
transmit PDO's which can be easily read by all other controllers using, for example, the extended CANINI
999 function. This gives you nearly unlimited possibilities to make fast and efficient CAN communication
between multiple controllers.
The slave library also supports a SDO2 object which allows APOSS to communicate over a second SDO while
a PLC (or other controller) is communicating over SDO. This is very useful for debugging and development
of applications.
The very powerful commands LINKSDO and LINKPDO allow to define which SDO should be mapped into an
outgoing PDO and which part of an incoming PDO is automatically mapped into which object in the
dictionary. Because the object dictionary also contains for example the User Parameters, it is very easy to
update the user parameters in the background when a PDO is received without any action of the
application.
The following commands realize the CANopen slave functionality:
Description
Command
LINKPDO, Link the system variable with
RxPDO and copy in the
internal parameters,
or link part of an array into
the PDO.
LINKSDO, Link TxPDO with internal
system variable, or
link part of an array out of
the PDO.
PDO[ ] Pseudo array for direct
access to the CANopen PDOs.
SYSVAR[0x01...] System variable (Pseudo
array) reads system values;
see SDO-Dictionary
190
__ How to Program __
Syntax
LINKPDO no len indx
pdo
LINKSDO indx len no
"text" pdo
PDO[n]
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
Parameter
no = rank order in the RxPDO
len = number of the bits to be imported
indx = index of the system variable
SYSVAR
pdo = values between 1 .. 4 or 5 (serial)
indx = index of the system variable
SYSVAR
len = length of the bits to be imported
no = rank order in the PDO
text = " " (comment)
pdo = values between 1 .. 4
-pdo = dummy entry of the link object
into the mapping list
n = 1001. for 1. PDO
2001. for 2. PDO
...
5001. for 5. PDO (serial PDO)