Delta Electronics VFD-E manual Master transmits PDO data to Slave

Appendix E CANopen Function

Type number 255 indicates the data is asynchronous transmission.

All PDO transmission data must be mapped to index via Object Dictionary. Example:

Master transmits PDO data to Slave

PDO1

CAN(H)

CAN(L)

Master

Slave

PDO1 data value	Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
	0x11,	0x22,	0x33,	0x44,	0x55,	0x66,	0x77,		0x88,
	Index	Sub				Value		R/W		Size
	0x1600	0	0. Number				1	R/W		U8
PDO1 Map	0x1600	1	1. Mapped Object					R/W		U32
	0x1600	2	2. Mapped				0			U32
	0x1600	3		Object			0			U32
			4. Mapped Object				0	R/W		U32
0x60400010	0x6040	0	0. Control word			0x2211		R/W		U16
										(2 Bytes)
		Slave returns message to Master
CAN(H)			PDO1
CAN(L)

Master

Slave

PDO1 data value	Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
	0xF3,	0x00,
	Index	Sub		Definition	Value	R/W	Size
	0x1A00		0. Number		1	R/W	U8
PDO1 Map	0x1A00	1	1. Mapped Object		0x60410010	R/W	U32
	0x1A00	2	2. Mapped Object		0	R/W	U32
	0x1A00	3	3.	Object	0		U32
	0x1A00	4	4. Mapped Object		0	R/W	U32

0x6041 0 Status Word

0xF3 R/W U16

E-8 Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11