Vacon OPTE6 User Manual page 28

vacon • 26
NOTE! When the bypass parameter set is restored, the COB IDs are calculated according to the
table below. After the bypass parameter set is used, the node ID change does not affect the COB IDs.
Table 49: Overview of bypass RX PDO configuration
Object COB ID
0x200
RPDO1
+node ID
0x300
RPDO2
+node ID
0x400
RPDO3
+node ID
Table 50: Overview of bypass TX PDO configuration
Object COB ID
0x180
TPDO1
+node ID
0x280
TPDO2
+node ID
0x380
TPDO3
+node ID
Configuration of the receive PDO mapping, when the bypass parameter set is restored, is the fol-
lowing:
Table 51: Receive PDO 1
Index
0x1600
Table 52: Receive PDO 2
Index
0x1601
3
Size DATA0 DATA1
6 FB PD in offset 0
FB PD in offset 3
8
FB PD in offset 7
8
Size DATA0 DATA1
6 FB PD in offset 0
FB PD in offset 3
8
FB PD in offset 7
8
Sub-index Value
0 3
1 0x20000110
2 0x20000210
3 0x20000310
Sub-index Value
0 4
1 0x20000410
2 0x20000510
3 0x20000610
4 0x20000710
CANopen protocol description
DATA2 DATA3 DATA4
FB PD in offset 1 FB PD in offset 2
FB PD in offset 4 FB PD in offset 5
FB PD in offset 8 FB PD in offset 9
DATA2 DATA3 DATA4
FB PD in offset 1 FB PD in offset 2
FB PD in offset 4 FB PD in offset 5
FB PD in offset 8 FB PD in offset 9
Name
Number of entries
FB PD In Offset 0*
FB PD In Offset 1*
FB PD In Offset 2*
Name
Number of entries
FB PD In Offset 3*
FB PD In Offset 4*
FB PD In Offset 5*
FB PD In Offset 6*
Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205
DATA5 DATA6 DATA7
FB PD in offset 6
FB PD in offset
10
DATA5 DATA6 DATA7
FB PD in offset 6
FB PD in offset
10
Data type Access
UNSIGNED8 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