User`s manual

DS2100 User's Manual APPENDIX B: GUI
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B.3.16.25 CAN Receive/Transmit PDO 1 - PDO 2 – PDO 3 – PDO 4
The drive supports up to 4 receive and up to 4 transmit Process Data Objects (PDOs)
The contents can be specified using PDO mapping. The granularity of the PDO mapping is a byte.
• Enable/Disable → Enable or disable the CAN Receive or Transmit PDO. A PDO should be
disabled before changes are made to its configuration (ID, transmission type or mapping)
• Communication Object ID → the 11 LSB’s of this parameter are set to the COB ID. Bit 30 is
always 1 and bit 29 is always 0
• Transmission Type → The transmission type as defined by CANOpen standard DS301. (For
example, 255 is an asynchronous event driven transmission type.)
• PDO Mapping → The PDO mapping is the mechanism that allows the user to change the
contents of the process data objects. To change the PDO mapping, the parameter ‘Number
Mapped Objects’ should be set to 0, then the new parameters to be mapped written in the
‘PDO_Mapping’ array and then the number of mapped parameters should be written into
‘Number Mapped Objects’. Make sure that not more than 8 bytes are used up in this mapping
process. If trying to map more than 8 bytes into one PDO, writing of ‘Number Mapped Objects’
will cause an error.