Receive Pdos - WEG CFW-11 Communications Manual

5.3.2 Receive PDOs

The receive PDOs, or RPDOs, are responsible for receiving data that other devices send to the CANopen network.
The CFW-11 has 4 receive PDOs, each one being able to receive up to 8 bytes. Each RPDO has two parameters
for its configuration, a PDO_COMM_PARAMETER and a PDO_MAPPING, as described next.
PDO_COMM_PARAMETER
The sub-index 1 contains the receive PDO COB-ID. Every time a message is sent to the network, this object will
read the COB-ID of that message and, if it is equal to the value of this field, the message will be received by the
device. This field is formed by an UNSIGNED32 with the following structure:
The bit 31 allows enabling or disabling the PDO. The bits 29 and 30 must be kept in 0 (zero), they indicate
respectively that the PDO accepts remote frames (RTR frames) and that it uses an 11-bit identifier. Since the CFW-
11 frequency inverter does not use 29-bit identifiers, the bits from 28 to 11 must be kept in 0 (zero), whereas the
bits from 10 to 0 (zero) are used to configure the COB-ID for the PDO.
The sub-index 2 indicates the transmission type of this object, according to the next table.
Index
Name
Object
Type
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Table 5.5 - COB-ID description
Bit Value
31 (MSB) 0
1
30 0
29 0
28 – 11 0
10 – 0 (LSB) X
1400h
Receive PDO communication parameter
Record
PDO COMM PARAMETER
0
Number of the last sub-index
ro
No
UNSIGNED8
2
1
COB-ID used by the PDO
rw
No
UNSIGNED32
1400h: 200h + Node-ID
1401h: 300h + Node-ID
1402h: 400h + Node-ID
1403h: 500h + Node-ID
2
Type of transmission
rw
No
UNSIGNED8
254
Description
PDO is enabled
PDO is disabled
RTR permitted
Identifier size = 11 bits
Not used, always 0
11-bit COB-ID