Rpdo: Receive Pdo; Tpdo: Transmit Pdo; Mb1/S15 Specific Profile - Toshiba TOSVERT VF-MB1 Function Manual

4.2. RPDO: Receive PDO

Sub
Index Access
index
0x00 R/W
0x01 R/W
0x1600 0x02 R/W
0x03 R/W
0x04 R/W
0x05 R/W
0x06 R/W

4.3. TPDO: Transmit PDO

Sub
Index Access
index
0x00 R/W
0x01 R/W
0x02 R/W
0x1A00
0x03 R/W
0x04 R/W
0x05 R/W
0x06 R/W

4.4. MB1/S15 specific profile

Drive parameters are defined as Manufacturer Specific Objects.
Drive parameter F*** are defined as 0x2****. So drive parameters from F000 to FFFF are
accessed from network as Objects.
The MB1/S15 parameters are based on CANopen addresses.
Parameter
No.
F000 ~ F999
FA00 ~ FF99
A000 ~ AF99
C000 ~ CF99
*C001-C006 and C021-C026 supported parameters are able to mapping to PDO.
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Type Default value
Receive PDO mapping – Number of mapped object: 0 to 4
u8 0x02
objects can be mapped for this PDO
Receive PDO mapping – 1st mapped object: Control word
u32 0x60400010
"CMD" (0x6040)
Receive PDO mapping – 2nd mapped object: Velocity
u32 0x60420010
reference "LFRD" (0x6042)
u32 0x00000000 Receive PDO mapping: 3rd mapped object
u32 0x00000000 Receive PDO mapping: 4th mapped object
u32 0x00000000 Receive PDO mapping: 5th mapped object
u32 0x00000000 Receive PDO mapping: 6th mapped object
Type Default value
u8 0x02 Transmit PDO mapping: Number of mapped objects.
Transmit PDO mapping – 1st mapped object: Status word
u32 0x60410010
"ETA" (0x6041)
Transmit PDO mapping – 2nd mapped object: Velocity
u32 0x60440010
reference "RFRD" (0x6044/00) default value
u32 0x00000000 Transmit PDO mapping: 3rd mapped object
u32 0x00000000 Transmit PDO mapping: 4th mapped object
u32 0x00000000 Transmit PDO mapping: 5th mapped object
u32 0x00000000 Transmit PDO mapping: 6th mapped object
Comm. No. Object No.
0x2000 ~
0000 ~ 0999
0x2999
0x2A00 ~
FA00 ~ FF99
0x2F99
0x3000 ~
A000 ~ AF99
0x3F99
0x4000 ~
C000 ~ CF99
0x4F99
Description
Description
Trans.
type
SDO
User parameter area
PDO*
Disclosed command and monitor
SDO
parameter No. can be mapped.
PDO*
Refer to the communication manual.
SDO User parameter area
SDO User parameter area
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Note