Danfoss FC 300 Manual

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Contents

Danfoss FC 300 Manual Manual pdf 33 page image

FC 300 CANopenMG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark 33The PDOs correspond to entries in the device Object Dictionary and provide the interface to theapplication objects. Data type and mapping of application objects into a PDO is determined by acorresponding default PDO mapping structure within the Device Object Dictionary. If variable PDO-mapping is supported the number of PDOs and the mapping of application objects into a PDO may betransmitted to a device during the device configuration process by applying the corresponding SDOservices.Number and length of PDOs of a device is application specific and have to be specified within thedevice profile.PDO Transmission ModesThe following PDO transmission modes are distinguished:• Synchronous Transmission• Asynchronous TransmissionThe classification of synchronous and asynchronous PDOs is as follows:PDO Triggering ModesThe CANopen Communication Profile distinguishes two message triggering modes, Event Driven andRemotely Requested:Event DrivenMessage transmission is triggered by the occurrence of an object specific event. For synchronousPDOs this is the expiration of the specified transmission period, synchronised by the reception of theSYNC object.For acyclically transmitted synchronous PDOs and asynchronous PDOs the triggering of a messagetransmission is an application specific event specified in the device profile.Remotely requestedThe transmission of asynchronous PDOs may be initiated on receipt of a remote request initiated byanother device.PDO ServicesThe specified PDO triggering modes of the CANopen Communication Profile are modelled by servicesonto the CMS object type "Stored-Events". CMS objects of type Stored-Event provide event-drivenand remotely requested transmission.