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FC 300 CANopen34 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademarkAccording to CMS the following services on Events are relevant:• Define Event• Store (and immediately Notify) Event• Read EventThe following CMS event object attributes are specified for event PDOs:• name: according to the CMS naming conventions with = "xPDOyyy"with “yyy” as the number of the PDO, starting with 001, and with x = {“T”|”R”} for a receive ortransmit PDO.• user type: depending on the role-in-service of the device; transmitter of event data: server receiveror requester of event data: client• class: Stored Event• priority: application specific, suggested between [2, 5]• data type: determined by corresponding PDO-mapping entry of the PDO• inhibit time: application specificReceive PDOThe following overview shows the receive (read) PDOs:PDONo.Index Link to PDO(COB-ID)MappingObject IndexMapping ObjectNameComment1 1400h 1 (200h) 6040h controlword controls the statemachine6 1405h 2 (300h) 6040h6042hcontrolwordvl_target_velocity(RPM)controls the statemachine and thenominal speed (vl)21 1414h 3 (400h) 6040h6042h2F00/0h2F00/1hcontrolwordvl_target_velocity(RPM)pcd 0 (p1051/0)pcd 1 (p1051/1)22 1415h 4 (500h) 2F00/2h2F00/3h2F00/4h2F00/5hpcd 2 (p1051/2)pcd 3 (p1051/3)pcd 4 (p1051/4)pcd 5 (p1051/5)1st receive PDO (M): Control WordIndex Subindex Comment Default Value1400 h 0 number of entries 31 COB-ID used by PDO 200h + node-ID2 transmission type 2553 inhibit time 04 not used -1600 h 0 number of mapped objects 11 controlword 60400010 h
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