Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 43)

20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Chapter 5
Using I/O Messaging
This chapter provides information and examples that explain how to use I/O
Messaging to control a PowerFlex 7-Class drive.
About Process Data Objects On CANopen, Process Data Objects (PDOs) are used to transfer the
real-time data which controls the PowerFlex drive and sets its Reference.
PDOs can also be used to transfer data to and from Datalinks. A PDO
message has high priority on the CAN bus. Each PDO has a unique CAN
identifier, and the maximum length of a PDO message is 8 bytes.
PDO mapping and configuration are made with help of SDOs.
RPDO: SDO 1400 - 1403h (1st - 4th RPDO communication parameter)
SDO 1600 - 1603h (1st - 4th RPDO mapping parameter)
TPDO: SDO 1800 - 1803h (1st - 4th TPDO communication parameter)
SDO 1A00 - 1A03h (1st - 4th TPDO mapping parameter)
The adapter provides many options for configuring and using I/O,
including:
•
Configuring the size of I/O by enabling or disabling the Logic
Command/Reference and Datalinks
•
Using a Change of State, Cyclic or RTR data exchange method
Topic Page
About Process Data Objects 5-1
Understanding the I/O Image 5-4
Using Logic Command/Status 5-6
Using Reference/Feedback 5-6
Using Datalinks 5-8
Transmit PDO Mapping 5-9
Receive PDO Mapping 5-10
!
ATTENTION: Hazard of injury or equipment damage exists. The
examples in this publication are intended solely for purposes of
example. There are many variables and requirements with any
application. Rockwell Automation does not assume responsibility
or liability (to include intellectual property liability) for actual use
of the examples shown in this publication.