NORD Drivesystems BU0260 - Manual (Page 95)

7 CANopen Data transfer
BU 0260 GB Subject to technical amendments 95
7.4.2.3 Application-specific mapping
Instead of using the default mapping, an application-specific mapping can define which data is to be
transmitted by means of PDOs. For this, the module must be in "Pre-Operational" status or should be put in
this status with the NMT service "Enter Pre-Operational".
The procedure for an application-specific mapping is explained on the basis of a specific example.
Example:
With the aid of a Transmit PDO, the control word and setpoint 3 are to be transferred to the frequency inverter
with a data width of 16 bit.
 The CAN identifier 0x432 is to be used for the transfer.
 The transfer is to be carried out sychronously with each third SYNC object.
 The default CAN-IDs are used for the SDOs.
Changes to the mapping for the Transmit PDO1
Deactivation of Transmit PDO 1
Deactivation of the PDO mapping by setting "0" - Setting of the number of mapping objects in Index 0x1A00,
Sub-Index 0 (Transmit PDO Mapping Parameter).
CAN-ID Data
Transmit 0x0600 0x2F 00 1A 00 00 xx xx xx
Receive 0x0580 0x60 00 1A 00 xx xx xx xx
Entering the mapping objects
Entry in the Transmit PDO mapping structure (Index 0x1A00) of:
 Index
 Sub-index

Object length of the application object
A maximum of 8 bytes of data can be assigned to each PDO.
Application object Index Sub-index
FI 1 control word 0x3000 1
FI 1 Setpoint 3 0x3002 3
The following structure must be achieved in the mapping parameters of the 1st Transmit PDO (Objekt 0x1A00).
Sub-index Index Sub-index Object length in bits Comments
0 2  Number of mappings
1 0x3000 1 0x10  FI 1 control word
2 0x3002 3 0x10  FI 1 Setpoint 3
NOTE
The number of valid sub-indices are only entered into Sub-Index 0 after the mapping
parameters in Sub-Index 1 ... 8 have been entered.