Delta Electronics AC Motor Drive VFD-E User Manual page 357

Appendix E CANopen Function |
Type number 255 indicates the data is asynchronous transmission.
All PDO transmission data must be mapped to index via Object Dictionary.
Example:
CAN(H)
CAN(L)
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
PDO1 Map
0x60400010
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
PDO1 Map
E-8
Master transmits
Master
0x11, 0x22, 0x33,
Index
Sub
0x1600 0 0. Number
1 1. Mapped Object
0x1600
2. Mapped Object
0x1600 2
3
0x1600 3. Mapped Object
4. Mapped Object
0x1600 4
0 0. Control word
0x6040
Slave returns message to Master
CAN(H)
CAN(L)
Master
0xF3, 0x00,
Index Sub
0x1A00 0 0. Number
1 1. Mapped Object
0x1A00
2. Mapped Object
0x1A00 2
0x1A00 3 3. Mapped Object
4. Mapped Object
0x1A00 4
0 Status Word
0x6041
PDO data to Slave
PDO1
0x44, 0x55,
Definition
0x60400010
PDO1
Definition
0x60410010
Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11
Slave
0x66, 0x77, 0x88,
R/W
Value
1 R/W
R/W
R/W
0
R/W
0
0
R/W
0x2211
R/W
(2 Bytes)
Slave
Value R/W Size
1 R/W U8
R/W
U32
0 R/W
U32
R/W U32
0
0 R/W U32
0xF3
R/W U16
Size
U8
U32
U32
U32
U32
U16