Transmit Pdos - WEG CFW-11 Communications Manual

This parameter indicates the mapped objects in the CFW-11 receive PDOs. It is possible to map up to four different
objects for each RPDO, provided that the total length does not exceed eight bytes. The mapping of an object is
done indicating its index, sub-index
For instance, analyzing the receive PDO standard mapping, we have:
Sub-index 0 = 2: the RPDO has two mapped objects.
Sub-index 1 = 22AC.0010h: the first mapped object has an index equal to 22ACh, sub-index 0 (zero),
and a size of 16 bits. This object corresponds to the inverter parameter P0684, which represents the
CANopen control word.
Sub-index 2 = 22AD.0010h: the second mapped object has an index equal to 22ADh, sub-index 0
(zero), and a size of 16 bits. This object corresponds to the inverter parameter P0685, which represents the
speed reference.
Therefore, every time this PDO receives a telegram, it knows that the telegram must contain four data bytes, with
the contents for the CFW-11 control word and speed reference. It is possible to modify this mapping by changing
the quantity or the number of mapped objects. Remember that a maximum of 4 objects or 8 bytes can be mapped.
NOTE!
In order to change the mapped objects in a PDO, it is first necessary to write the value 0 (zero) in
the sub-index 0 (zero). In that way the values of the sub-indexes 1 to 4 can be changed. After the
desired mapping has been done, one must write again in the sub-index 0 (zero) the number of
objects that have been mapped, enabling again the PDO.
In order to speed up the updating of data via PDO, the values received with these objects are not
saved in the inverter non-volatile memory. Therefore, after switching off or resetting the equipment
the objects modified by an RPDO get back to their default value.
Do not forget that PDOs can only be received if the CFW-11 is in the operational state.

5.3.3 Transmit PDOs

The transmit PDOs, or TPDOs, as the name says, are responsible for transmitting data for the CANopen network.
The CFW-11 has 4 transmit PDOs, each one being able to transmit up to 8 data bytes. In a manner similar to
RPDOs, each TPDO has two parameters for its configuration, a PDO_COMM_PARAMETER and a PDO_MAPPING,
AS DESCRIBED NEXT.
PDO_COMM_PARAMETER
7 If the object is of the VAR type and does not have sub-index, the value 0 (zero) must be indicated for the sub-index.
Sub-index
Description
Access
Mappable
Range
Default value
7 and size (in bits) in an UNSIGNED32, field with the following format:
Index Sub-index
(16 bits)
Index
Name
Object
Type
4
4th object mapped in the PDO
rw
No
UNSIGNED32
1600h: 0
1601h: 0
1602h: 0
1603h: 0
UNSIGNED32
Size of the object
(8 bits) (8 bits)
1800h
Transmit PDO Parameter
Record
PDO COMM PARAMETER