Beijer-electronics BFI-P2 v1.10 Manual de usuario descargar pdf (Pagina 2)

CANopen USER GUIDE Beijer Electronics Automation AB

PAGE 2

Table 2: PDO Default Mapping

Objects

No.

Mapped

Object

Length Mapped Function

Transmission

Type

1 2000h Unsigned 16 Control command register

2 2001h Integer 16 Speed reference

3 2002h Integer 16 Torque reference

PDO 1

4 2003h Unsigned 16 User ramp reference

254

Valid immediately

1 200Ah Unsigned 16 Drive status register

2 200Bh Integer 16 Motor speed Hz

3 200Dh Unsigned 16 Motor current

PDO1

4 200Eh Integer 16 Motor torque

254

Send after receiving

RX PDO1

1 0006h Unsigned 16 Dummy

2 0006h Unsigned 16 Dummy

3 0006h Unsigned 16 Dummy

PDO 2

4 0006h Unsigned 16 Dummy

254

1 200Fh Unsigned 16 Motor power

2 2010h Integer 16 Drive temperature

3 2011h Unsigned 16 DC bus value

PDO2

4 200Ch Integer 16 Motor speed (Internal data format)

254

* Drive control can only be achieved when P1-12=6

PDO transmission type:

Various transmission modes can be selected for each PDO.

For RX PDO, the following modes are supported:

Table 3: RX PDO Transmission Mode

Transmission Type Mode Description

0 – 240 Synchronous

The received data will be transferred to the drive active control

254, 255 Asynchronous

The received data will be transferred to the drive active control

For TX PDO, the following modes are supported:

Table 4: TX PDO Transmission Mode

Transmission Type Mode Description

0 Acyclic synchronous

TX PDO will only be sent out if the PDO data has changed and

PDO will be transmitted on reception of SYNC object

1 - 240 Cyclic synchronous

TX PDO will be transmitted synchronously and cyclically. The

transmission type indicates the number of SYNC object that are

necessary to trigger TX PDO.

254 Asynchronous

TX PDO will only be transferred once corresponding RX PDO has

been received.

255 Asynchronous

TX PDO will only be transferred anytime if PDO data value has

changed.

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