Pdo Default Mapping; Pdo Transmission Type; Can Specific Object Table - Invertek Drives Optidrive E3 ODE-3 Series User Manual

5.4. PDO Default Mapping

Objects
No.
1
2
RX
PDO1
3
4
1
2
TX
PDO1
3
4
1
2 2 2 2
RX RX
PDO2 PDO2
3 3 3 3
4 4 4 4
1 1 1 1 1
2 2 2 2 2
TX TX
PDO2 PDO2
3 3 3 3 3
4 4 4 4 4

5.5. PDO Transmission Type

5.5. PDO Transmission Type
Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported: Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:
Transmission Type Transmission Type Transmission Type
0 – 240 0 – 240
254, 255 254, 255 254, 255 254, 255
For TX PDO, the following modes are supported: For TX PDO, the following modes are supported:
Transmission Type Transmission Type Transmission Type
0 0
1-240 1-240 1-240
5
254 254
255 255
5.6. CAN Specific Object Table 5.6. CAN Specific Object Table
Index Sub Index
1000h 0
1001h 0
1002h 0
1005h 0
1008h 0
1009h 0
100Ah 0
100Ch 0
100Dh 0
1014h 0
1015h 0
12 | Fieldbus Guide | Version 1.02
Mapped
Length
Object
2000h Unsigned 16
2001h Integer 16
2003h Unsigned 16
0006h Unsigned 16
200Ah Unsigned 16
200Bh Integer 16
200Dh Unsigned 16
2010h Integer 16
0006h Unsigned 16
0006h 0006h 0006h 0006h Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16
0006h 0006h 0006h 0006h Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16
0006h 0006h 0006h 0006h Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16
201 1h 201 1h 201 1h 201 1h 201 1h Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16
2012h 2012h 2012h 2012h 2012h Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16 Unsigned 16
2013h 2013h 2013h 2013h 2013h Integer 16 Integer 16 Integer 16 Integer 16 Integer 16
2014h 2014h 2014h 2014h 2014h Integer 16 Integer 16 Integer 16 Integer 16 Integer 16
Mode Mode Mode
The received data will be transferred to the drive active control register when the next sync The received data will be transferred to the drive active control register when the next sync
Synchronous Synchronous
message is received. message is received.
Asynchronous Asynchronous Asynchronous Asynchronous The received data will be transferred to the drive active control register immediately without delay. The received data will be transferred to the drive active control register immediately without delay. The received data will be transferred to the drive active control register immediately without delay. The received data will be transferred to the drive active control register immediately without delay.
Mode Mode Mode
TX PDO will only be sent out if the PDO data has changed and PDO will be transmitted on TX PDO will only be sent out if the PDO data has changed and PDO will be transmitted on
Acyclic synchronous Acyclic synchronous
reception of SYNC object. reception of SYNC object.
TX PDO will be transmitted synchronously and cyclically. The transmission type indicates the TX PDO will be transmitted synchronously and cyclically. The transmission type indicates the
Cyclic synchronous Cyclic synchronous Cyclic synchronous
number of SYNC object that are. number of SYNC object that are.
Asynchronous Asynchronous Asynchronous TX PDO will only be transferred once corresponding RX PDO has been received. TX PDO will only be transferred once corresponding RX PDO has been received. TX PDO will only be transferred once corresponding RX PDO has been received.
Asynchronous Asynchronous Asynchronous TX PDO will only be transferred anytime if PDO data value has changed. TX PDO will only be transferred anytime if PDO data value has changed. TX PDO will only be transferred anytime if PDO data value has changed.
Function
Device Type
Error Register
Manufacturer Status Register
COB-ID Sync
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Guard Time (1ms)
Lifetime Factor
COB-ID EMCY
Inhibit Time Emergency (100µs)
Mapped Function Transmission Type
Control word
Frequency setpoint
Valid immediately
User ramp reference
Dummy
Drive status register
Motor speed Hz
Send after receiving
Motor current
Drive temperature
Dummy
Dummy Dummy
Dummy Dummy
Dummy Dummy
DC bus voltage DC bus voltage DC bus voltage DC bus voltage DC bus voltage
Digital input status Digital input status Digital input status Digital input status Digital input status
Analog input 1 (%) Analog input 1 (%) Analog input 1 (%) Analog input 1 (%) Analog input 1 (%)
Analog input 2 (%) Analog input 2 (%) Analog input 2 (%) Analog input 2 (%) Analog input 2 (%)
Description Description
Description Description
Access Type
RO U32
RO U8
RO U16
RW U32
RO String
RO String
RO String
RW U16
RW U8
RW U32
RW U16
For information
on the values
Refer to section 1 1. 1 .
254
Control Registers on
page 54
254
Refer to section 1 1. 1 . 1 .
Drive Control Word
PDO0 on page 54
RX PDO 1
254 254
254 254
PDO Map Default Value
N 0
N 0
N 0
N 00000080h
N ODE3
N x.xx
N x.xx
N 0
N 0
N 00000080h+Node ID
N 0
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