Vacon CANopen OPTE6 User Manual page 72

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Table 69. Overview of Transmit PDO configuration in CiA-402 vl mode
Object COB-ID
0x180 +
TPDO1
Node ID
0x80000280
TPDO2
+ Node ID
0x80000380
TPDO3
+ Node ID
8.2.3.1 Receive PDO configuration
Configuration of the receive PDO configuration is the following, when the CiA-402 vl parameter set
is restored:
Index Sub-index
0x1600
Index Sub-index
0x1601
* Data inside 'FB PD in' varies according to the drive application and used settings.
Index Sub-index
0x1602
* Data inside 'FB PD in' varies according to the drive application and used settings.
8
Size DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7
0x6041,
4
Statusword
0x2001,4
8
FB PD out 1
0x2001,8
8
FB PD out 5
Table 70. Receive PDO Mapping Parameter 1
Value
0 2
1 0x60400010
2 0x60420010
Table 71. Receive PDO Mapping Parameter 2
Value
0 4
1 0x20000410
2 0x20000510
3 0x20000610
4 0x20000710
Table 72. Receive PDO Mapping Parameter 3
Value
0 4
1 0x20000810
2 0x20000910
3 0x20000A10
4 0x20000B10
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CANopen option board interface
0x6044,
vl Velocity Actual
0x2001,5 0x2001,6
FB PD out 2 FB PD out 3
0x2001,9 0x2001,A
FB PD out 6 FB PD out 7
Name
Number of entries
Controlword
vl Target Velocity
Name
Number of entries
FB PD in 1*
FB PD in 2*
FB PD in 3*
FB PD in 4*
Name
Number of entries
FB PD in 5*
FB PD in 6*
FB PD in 7*
FB PD in 8*
Not used
0x2001,7
FB PD out 4
0x2001,B
FB PD out 8
Data type Access
UNSIGNED8 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
Data type Access
UNSIGNED8 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
Data type Access
UNSIGNED8 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w
UNSIGNED32 r/w