Invertek Compact 2 Series User Manual page 39

9.3.1. PDO Default Mapping
RX
PDO1
TX
PDO1
RX
PDO2
TX
PDO2
* Drive control can only be achieved when P-12=7 or 8 provided that P-31 = 0, 1, 4 or 5.
9.3.2. PDO transmission type
Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:-
Transmission Type
0 – 240
254, 255
For TX PDO, the following modes are supported:-
Transmission Type
0
1-240
254
255
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Objects Mapped Length
No. Object
1 2000h Unsigned 16
2 2001h Integer 16
3 2003h Unsigned 16
4 0006h Unsigned 16
1 200Ah Unsigned 16
2 200Bh Integer 16
3 200Dh Unsigned 16
4 2010h Integer 16
1 0006h Unsigned 16
2 0006h Unsigned 16
3 0006h Unsigned 16
4 0006h Unsigned 16
1 2011h Unsigned 16
2 2012h Unsigned 16
3 2013h Integer 16
4 2014h Integer 16
Mode Description
Synchronous The received data will be transferred to the drive active control
register when the next sync message is received.
Asynchronous The received data will be transferred to the drive active control
register immediately without delay.
Mode
Acyclic synchronous
Cyclic synchronous
Asynchronous
Asynchronous
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Mapped Function
Control command register
Speed reference
User ramp reference
Dummy
Drive status register
Motor speed Hz
Motor current
Drive temperature
Dummy
Dummy
Dummy
Dummy
DC bus voltage
Digital input status
Analog input 1 (%)
Analog input 2 (%)
Description
TX PDO will only be sent out if the PDO data has changed and
PDO will be transmitted on reception of SYNC object
TX PDO will be transmitted synchronously and cyclically. The
transmission type indicates the number of SYNC object that are
TX PDO will only be transferred once corresponding RX PDO has
been received.
TX PDO will only be transferred anytime if PDO data value has
changed.
Transmission Type
*
254
Valid immediately
254
Send after receiving
RX PDO 1
254
254
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