CANopen Process Data Objects
CANopen - PDO Transmission Types
Rather than sending singular messages with SDOs the drive supports 2 Process Data Objects (PDO) each with up to 4 mappings to allow for multiple Objects to be sent within one message.
Various transmission modes can be selected for each PDO. For Rx PDO, the following modes are supported:
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:
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. |
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. |
CANopen - PDO Default Mappings
Below are the default mappings for each PDO. On power down any user mappings are not saved and will be reverted to these values.
The Rx Process Data is used for Drive Control.
The Tx Process Data is used for Drive Statuses.
Objects No. | Mapped Object | Length | Mapped Function | Transmission Type | |
|---|---|---|---|---|---|
Rx PDO1 | 1 | 2000h | Unsigned 16 | Control Word | 254 Valid immediately |
2 | 2001h | Integer 16 | Speed Reference | 254 Valid immediately | |
3 | 2003h | Unsigned 16 | Reserved | 254 Valid immediately | |
4 | 0006h | Unsigned 16 | Reserved | 254 Valid immediately | |
Tx PDO1 | 1 | 200Ah | Unsigned 16 | Drive Status Register | 254 Send after receiving RX PDO1 |
2 | 200Bh | Integer 16 | Motor Speed Hz | 254 Send after receiving RX PDO1 | |
3 | 200Dh | Unsigned 16 | Motor Current | 254 Send after receiving RX PDO1 | |
4 | 2010h | Integer 16 | Drive Temperature | 254 Send after receiving RX PDO1 | |
Rx PDO2 | 1 | 0006h | Unsigned 16 | Dummy | 254 |
2 | 0006h | Unsigned 16 | Dummy | 254 | |
3 | 0006h | Unsigned 16 | Dummy | 254 | |
4 | 0006h | Unsigned 16 | Dummy | 254 | |
Tx PDO2 | 1 | 2011h | Unsigned 16 | DC Bus Voltage | 254 |
2 | 2012h | Unsigned 16 | Digital Input Status | 254 | |
3 | 2013h | Integer 16 | Analog Input 1 (%) | 254 | |
4 | 2014h | Integer 16 | Analog Input 2 (%) | 254 |