Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
CANopen communication
Process data transfer (PDO transfer)
Description of the objects
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KHB 13.0003-EN 2.0
Objects to be transferred (first_mapped_object ... fourth_mapped_object)
For every object to be contained in the PDO, the drive controller m ust know the
corresponding index, subindex and length. The specified length must be identical to the
length specified in the object dictionary. It i s not possible to map parts of an object.
The mapping information has the following format:
Index Subindex Length
16 bits 8bits 8bits
ƒ Index: Main index of the object to be mapped (hex)
ƒ Subindex: Subindex of the object to be mapped (hex)
ƒ Length: Length of object - 8, 16 or 32 bits (hex)
In order to simplify the mapping, the following procedure is given:
1. The number of the mapped objects is set to 0.
2. The first_mapped_object ... fourth_mapped_object parameters can be written (the
total length of all objects is not relevant at this time).
3. The number of the mapped objects is set to a value between 1 ... 4. The length of all
these objects must not exceed 64 bits.