Schneider Electric DS301 manual PDO data exchange

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3 Basics

IL•1F CANopen DS301

3.4.2PDO data exchange

	PDO Consumer	PDO Consumer
	R_PDO	R_PDO
COB-ID	Data
		CAN
T_PDO		R_PDO
PDO Producer		PDO Consumer

Figure 3.16 PDO data exchange

Data exchange with PDOs follows to the producer-consumer relation- ship and can be triggered in 3 ways

•Synchronized

•Event-driven, asynchronous

•On request of a consumer, asynchronous

The SYNC object controls synchronized data processing. Synchronous PDO messages are transmitted immediately like the standard PDO messages, but are only evaluated on the next SYNC. For example, sev- eral drives can be started simultaneously via synchronized data ex- change.

The device immediately evaluates PDO messages that are called on re- quest or in an event-driven way.

The transmission type can be specified separately for each PDO with subindex 02h (transmission type) of the PDO communication parameter. The objects are listed in 8 "Object directory".

Event-drivenThe "event" is a change of the PDO data. In this mode, the data is im- mediately transmitted after a change. Please note that in the case of, for example, a positioning movement, the actual position changes con- stantly so that a large number of PDOs is transmitted. There are two ways to avoid such a large number of PDOs:

•A) You can set an "Inhibit Timer" (object 1803h subindex 3). The PDO is not sent until after this inhibit time has passed.

•B) By using a bit mask, you can limit the check for changes (=event). See section "Bit mask for T_PDO4" for a description.

A further possibility of "creating" an event consists of activating an "Event Timer" (object 1803h subindex 5). You activate this counter by en- tering a value not equal to zero. When this counter is reached, this rep- resents an additional event. This means that the PDO is transmitted when a value changes or when the counter event occurs.

Synchronized In the case of this transmission mode, a PDO is transmitted in relation to a SYNC object. See 3.5 "Synchronization" for a detailed description.

0198441113586, V2.01, 11.2008

32	Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 CAN-Bus IntroductionAbout this manual Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Basics CANopen technologyCANopen description language Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelIndex Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship SDO data exchange Service data communicationOverview SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlPersistent data memory NMT service Transition MeaningInitialization Node/Life guarding NMT services for connection monitoringCommand Specifier NMT service Transition 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Using SDO commands Writing parametersTransmit data Receive dataIndex Sub Data Description Synchronous errorsReading a parameter Bit no Value Meaning Operating Name Power Description State StageChanging operating states with PDO4 Example Switching the power stage on and offTriggering a Quick Stop Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsMessages on the device status Error diagnostics via fieldbusMessage objects CANopen error messages Error registerError code table Bit Message MeaningSDO error message Abort Error code MeaningSpecifications for the objects Object directoryObject code Meaning Coding Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewDevice type Error registerObjects of the product Bit coding, subindex 00h 1008hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit assignment subindex 01h Bit 30 RTR bitBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTemperature RotationTorque Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface