Beijer Electronics BFI-P2 v1.10 - Manual (Page 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
RX
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
TX
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
RX
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
TX
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
register when the next sync message is received.
254, 255 Asynchronous
The received data will be transferred to the drive active control
register immediately without delay.
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.