Schneider Electric DS301 manual Dynamic and static PDO mapping, Requesting a message with RTR =

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3 Basics

IL•1F CANopen DS301

Requesting process data One or more network devices with consumer function can request PDO messages from a producer. The producer is identified by the COB ID of the request and responds with the requested PDO.

	RTR
COB-Id	1	Producer
Consumer		Producer
COB-Id	0	Daten

Figure 3.18 Requesting a message with RTR = 1

The RTR bit (RTR: Remote Transmission Request) of a CAN message is used to detect a request. The COB ID remains the same for both mes- sages:RTR = 0: transmission of dataRTR = 1: request for data.

Setting RTR request You can set for each PDO separately whether it responds to RTR re- quests. This is switched on or off via subindex 01, bit 30h of each PDO. Subindex 02h (transmission type) of the objects defines the transmis- sion type. The PDO only responds to a request via bit RTR if RTR trans- mission is enabled for a PDO. The subindex values for the RTR bit are:

Objects 1403h, 1803h subindex 02h,	Meaning
"transmission type"

252	RTR active, synchronous

253	RTR active, asynchronous

Table 3.8 Subindexes for using the bit

An overview of all values for the subindex 02h can be found in the object dictionary for the corresponding object.

The product cannot request PDOs, but it can respond to the request of

PDOs.

3.4.2.1Dynamic and static PDO mapping

Dynamic PDO mapping The settings for PDO mapping are defined in an assigned communica- tion object for each PDO. If the PDO mapping settings for a PDO can be changed, this is referred to as dynamic PDO mapping for the PDO. Dy- namic PDO mapping enables flexible combination of different process data during operation.

Static PDO mapping Static PDO mapping means that all objects are mapped in accordance

with a fixed setting in the corresponding PDO.

Properties of the integrated drive. The integrated drive supports 2 PDOs, the communication objects T_PDO4 and R_PDO4. These two PDO4 are enabled by default.

These PDOs are mapped statically, i.e. they cannot be configured but only read. The indexes for the permanently entered objects can be read from the PDO mapping object range:

•Object 1403h: receive PDO4 communication parameter

•Object 1603h: receive PDO4 mapping

•Object 1803h: transmit PDO4 communication parameter

•Object 1A03h: transmit PDO4 mapping

0198441113586, V2.01, 11.2008

34	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 About this manual IntroductionCAN-Bus 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 CANopen description language BasicsCANopen technology Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelObject dictionary Communication profileIndex Subindex Object Meaning 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 Overview Service data communicationSDO data exchange 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 controlInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and offExample 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 diagnosticsMessage objects Error diagnostics via fieldbusMessages on the device status Error code table CANopen error messagesError register Bit Message MeaningSDO error message Abort Error code MeaningObject code Meaning Coding Specifications for the objectsObject directory Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewObjects of the product Error registerDevice type Manufacturer device name Bit coding, subindex 00h1008h 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 coding, subindex 02h Bit assignment subindex 01hBit 30 RTR bit 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 tablesTorque TemperatureRotation 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