Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 48)

5-6 Using I/O Messaging
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Table 5.E I/O Image for PowerFlex 700S Drives
(32-bit Reference/Feedback and 32-bit Datalinks)
LSW = Least Significant Word (Bits 15…0); MSW = Most Significant Word (Bits 31…16)
Using Logic Command/
Status The Logic Command is a 16-bit word of control produced by the CANopen
network and consumed by the adapter. The Logic Status is a 16-bit word of
status produced by the adapter and consumed by the CANopen network.
This manual contains the bit definitions for most compatible products
available at the time of publication in
Appendix D , Logic Command/Status
Words . For other products, refer to their documentation.
Using Reference/Feedback The Reference is produced by the controller and consumed by the adapter.
The Feedback is produced by the adapter and consumed by the controller.
The size of the Reference/Feedback is determined by the drive and
displayed using adapter Parameter 07 - [Ref/Fdbk Size].
The Reference value is a scaled engineering value; it is NOT in Hertz or
RPM. The Reference uses a “32767” scale. The “32767” endpoint of the
scale is equal to the value of parameter 55 - [Maximum Freq], which has a
default value of 130 Hz. For all PowerFlex 70/700 drives, default scaling is
0…15123 which is equal to 0…60.0 Hz. This is based on the formula
shown below. Reference scaling is limited by drive parameter 82 -
[Maximum Speed]. If the default value of 60 Hz. for parameter 82 -
[Maximum Speed] is changed, the speed Reference scaling also changes. To
determine Reference scaling, use:
Word Output I/O Word Input I/O
0 Logic Command 0 Logic Status
1 Not Used 1 Not Used
2 Reference (LSW) 2 Feedback (LSW)
3 Reference (MSW) 3 Feedback (MSW)
4 Datalink In A1 (LSW) 4 Datalink Out A1 (LSW)
5 Datalink In A1 (MSW) 5 Datalink Out A1 (MSW)
6 Datalink In A2 (LSW) 6 Datalink Out A2 (LSW)
7 Datalink In A2 (MSW) 7 Datalink Out A2 (MSW)
8 Datalink In B1 (LSW) 8 Datalink Out B1 (LSW)
9 Datalink In B1 (MSW) 9 Datalink Out B1 (MSW)
10 Datalink In B2 (LSW) 10 Datalink Out B2 (LSW)
11 Datalink In B2 (MSW) 11 Datalink Out B2 (MSW)
12 Datalink In C1 (LSW) 12 Datalink Out C1 (LSW)
13 Datalink In C1 (MSW) 13 Datalink Out C1 (MSW)
14 Datalink In C2 (LSW) 14 Datalink Out C2 (LSW)
15 Datalink In C2 (MSW) 15 Datalink Out C2 (MSW)
16 Datalink In D1 (LSW) 16 Datalink Out D1 (LSW)
17 Datalink In D1 (MSW) 17 Datalink Out D1 (MSW)
18 Datalink In D2 (LSW) 18 Datalink Out D2 (LSW)
19 Datalink In D2 (MSW) 19 Datalink Out D2 (MSW)
Size Valid Values
16-bit -32768 to 32767
32-bit -2147483648 to 2147483647