Rpdo: Receive Pdo - Toshiba TOSVERT VF-AS3 Manual

6.1.1.

RPDO: Receive PDO

The mapping of RPDO is shown to the following way.
1. Check the index for mapping by the following list (the description of c001).
2. Set the index checked by the list to RPDO on master.
See the manual of master in detail.
3. Check the result of the mapping by the value of c001 to c006.
<Example: The mapping [
1. Check the index for mapping by the following list (the description of c001).
(The index is
2. Set 0x2A06 to RPDO1 on master.
3. Check the value of parameter whether mapping is operated correctly.
(If the value of c001 is 1, the mapping is correct.)
＜The available mapping list of RPDO＞
The available
drive profile
TOSHIBA
TOSHIBA
TOSHIBA
TOSHIBA
TOSHIBA
TOSHIBA
*1: Don't use TOSHIBA and CiA402 for RPDO mapping at the same time.
*2: The description and setting are only for the VF-AS3.
Sub
Index Access
index
0x00 R/W
0x01 R/W
0x02 R/W
0x1600
0x03 R/W
0x04 R/W
0x05 R/W
0x06 R/W
Communication command 1] is set to RPDO1
0x2A06.)
*1
1: fa06 (Communication command 1)
2: fa23 (Communication command 2)
3: fa07 (Frequency command, 0.01Hz)
4: fa33 (Torque command 0.01%) [VF-AS3] *2
Common
5: fa50 (Terminal output data from comm.)
Common
6: fa51 (Analog output (FM) data from comm.)
Common
7: fa52 (Analog output(AM) data from comm.) [VF-AS3] *2
Common
8: f601 (Stall prevention level, %)
Common
9: f441 (Power running torque limit 1 level, 0.01%) [VF-AS3] *2
Common
10: f443 (Regenerative braking torque limit 1 level, 0.01%) [VF-AS3] *2
Common
11: f460 (Speed loop proportional gain) [VF-AS3] *2
Common
12: f461 (Speed loop stabilization coefficient) [VF-AS3] *2
Common
13: acc (Acceleration time 1, 0.1s)
14: dec (Deceleration time 1, 0.1s)
15: ul (Upper limit, 0.01Hz)
16: vb (Torque boost value 1, 0.1%), (Torque boost value 1, 0.01%) [VF-AS3]
Common
17: vlv (Base frequency voltage 1, 0.1V)
Common
CiA402 100: CMD（Controlword）
CiA402 101: LFRD（vl_target_velocity min
Type Default value
u8 0x02
u32 0x60400010
u32 0x60420010
u32 0x00000000
u32 0x00000000
u32 0x00000000
u32 0x00000000
The description of c001
）
-1
Description
Receive PDO mapping – Number of mapped object: 1 to 6
objects can be mapped for this PDO
Receive PDO mapping – 1st mapped object: Control word
"CMD" (0x6040)
Receive PDO mapping – 2nd mapped object: Velocity
reference "LFRD" (0x6042)
Receive PDO mapping: 3rd mapped object
Receive PDO mapping: 4th mapped object
Receive PDO mapping: 5th mapped object
Receive PDO mapping: 6th mapped object
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Index
0x2A06
0x2A23
0x2A07
0x2A33
0x2A50
0x2A51
0x2A52
0x2601
0x2441
0x2443
0x2460
0x2461
0x2009
0x2010
0x2012
0x2016
0x2409
0x6040
0x6042