CANopen option board interface
vacon • 75
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8
8.3
Bypass mode
In bypass mode, some data defined in the profile is invalid, and the drive control is done using raw
process data. The raw process data arrays are located in the manufacturer specific objects 0x2000
and 0x2001. There are two arrays: one for incoming data and one for outgoing data.
The drive application defines what data is mapped into the outgoing process data and how the in-
coming process data is handled. See 12. Appendix C - Fieldbus Process Data mapping and scaling
for more details.
8.3.1
PDO configuration
This chapter describes the default PDO mapping configuration when using Bypass mode. These
settings are restored when:
• changing the operate mode to "Bypass" from either panel or object 0x6060
• using the "Restore from Set" panel parameter when Bypass operate mode is selected, or
• loading a default parameter set with object 0x1011,4 "Restore Bypass parameter set" and
sending a NMT reset message
When the parameter set is restored, the COB-IDs are calculated according to used Node ID.
Table 81. Transmit PDO Communication Parameter 3
Index
Sub-index
Value
Name
Data type
Access
0x1802
0
6
Highest sub-index
UNSIGNED8
ro
1
0x80
Node ID
COB-ID
UNSIGNED32
r/w
2
0xFE
Transmission type
UNSIGNED32
r/w
3
1000
Inhibit time
UNSIGNED16
r/w
4
-
Reserved
UNSIGNED8
ro
5
0
Event timer
UNSIGNED16
r/w
6
0
Sync start value
UNSIGNED8
r/w
Table 82. Overview of Receive PDO configuration in Bypass mode
Object
COB-ID
Size
DATA0
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
RPDO1
0x200 +
Node ID
6
0x2000,1,
Controlword
0x2000,2
FB General
Control Word
0x2000,3
FB Speed
Reference
Not used
RPDO2
0x300 +
Node ID
8
0x2000,4
FB PD in 1
0x2000,5
FB PD in 2
0x2000,6
FB PD in 3
0x2000,7
FB PD in 4
RPDO3
0x400 +
Node ID
8
0x2000,8
FB PD in 5
0x2000,9
FB PD in 6
0x2000,A
FB PD in 7
0x2000,B
FB PD in 8
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