User guide
CANopen USER GUIDE Beijer Electronics Automation AB
PAGE 4
4 TX PDO1 4
th
mapped object RW Unsigned 32 N 200E0010h
0 TX PDO2 mapping / No. of entries RW Unsigned 8 N 4
1 TX PDO2 1
st
mapped object RW Unsigned 32 N 200F0010h
2 TX PDO2 2
nd
mapped object RW Unsigned 32 N 20100010h
3 TX PDO2 3
rd
mapped object RW Unsigned 32 N 20110010h
1A01h
4 TX PDO2 4
th
mapped object RW Unsigned 32 N 200C0010h
Manufacturer specific Object table:
ODP2 manufacturer specific object dictionary is defined as follows:
Table 6: Manufacturer Specific Profile Area
Index
Sub
index
Function Access Type
PDO
Map
Remark
2000h 0 Control command register RW Unsigned 16 Y
2001h 0 Speed reference RW Integer 16
Y
2002h 0 Torque reference RW Integer 16
Y
2003h 0 User ramp reference RW Unsigned 16
Y
2004h 0 Speed reference (internal format) RW Integer 16
Y
2005h
…
2009h
0 Reserved RW Unsigned 16
Y
200Ah 0 Drive status register RO Unsigned 16
Y
200Bh 0 Motor speed Hz RO Unsigned 16
Y
200Ch 0 Motor speed (internal format) RO Unsigned 16
Y
200Dh 0 Motor current RO Unsigned 16
Y
200Eh 0 Motor torque RO Integer 16
Y
200Fh 0 Motor power RO Unsigned 16
Y
2010h 0 Drive temperature RO Integer 16
Y
2011h 0 DC bus value RO Unsigned 16
Y
2012h 0 Digital input status RO
Unsigned 16
Y
2013h 0 Analog input 1 (percentage) RO
Unsigned 16
Y
2014h 0 Analog input 2 (percentage) RO
Unsigned 16
Y
2015h 0 Analog output 1 RO
Unsigned 16
Y
2016h 0 Analog output 2 RO
Unsigned 16
Y
2017h 0 relay output 1 RO
Unsigned 16
Y
2018h 0 relay output 2 RO
Unsigned 16
Y
2019h 0 relay output 3 (extension card) RO
Unsigned 16
Y
201Ah 0 relay output 4 (extension card)
RO
Unsigned 16
Y
201Bh 0 relay output 5 (extension card)
RO
Unsigned 16
Y
201Ch 0 Scope channel 1 (internal format)
RO
Unsigned 16
Y
201Dh 0 Scope channel 2 (internal format)
RO
Unsigned 16
Y
201Eh 0 Scope channel 3 (internal format)
RO
Unsigned 16
Y
201Fh 0 Scope channel 4 (internal format)
RO
Unsigned 16
Y
2020h 0 User data 1 RW Unsigned 16 Y
2021h 0 User data 2 RW Unsigned 16 Y
2022h 0 User data 3 RW Unsigned 16 Y
2023h 0 User data 4 RW Unsigned 16 Y
2024h 0 User data 5 RW Unsigned 16 Y
2025h 0 User data 6 RW Unsigned 16 Y
2026h 0 User data 7 RW Unsigned 16 Y
2027h 0 User data 8 RW Unsigned 16 Y
2028h 0 User data 9 RW Unsigned 16 Y
2029h 0 User data 10 RW Unsigned 16 Y