Schneider Electric DS301 manual Receive PDO RPDO4 master slave, Structure of RPDO4

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IL•1F CANopen DS301

3 Basics

0198441113586, V2.01, 11.2008

3.4.2.2Receive PDO R_PDO4 (master -> slave)

The master device can execute the following actions via the PDO4 chan- nel to the slave:

•Control the state machine of the slave

–Enable/disable the power stage of the product

–Trigger and reset a "Quick Stop"

–Resetting faults

•Toggle the operating modes

–Profile Position operating mode, absolute and relative

–Profile Velocity operating mode

–Reference movement

–Position setting

•Set reference values

–Reference position

–Reference speed

–Type of reference movement

Structure of R_PDO4:

Byte

1

2

3

4

5

6

7

8

Ref32 -> reference 32 bits - e.g. position

Ref16 -> reference 16 bits - e.g. velocity

modeCtrl

driveCtrl

	driveCtrl - 8 Bits
Bit	7	6	5	4	3	2	1	0
	0	0	0	QR	FR	QS	EN	DI

Disable

Enable

Quickstop

Fault Reset

					Quickstop Release
	modeCtrl - 8 Bits
Bit	7	6	5	4	3	2	1	0
	MT		ACTION		0		MODE

Requested Mode

Action within Mode

Mode Toggle

Figure 3.19 Structure of R_PDO4

Fieldbus interface

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Image 35

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 Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description languageIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesIndex 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 Master slave relationships Communication relationshipsClient-server relationship SDO data exchange Service data communicationOverview 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesPersistent 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 the device CommissioningCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Error Error class Cause of error Troubleshooting TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit 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 Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessages on the device status Error diagnostics via fieldbusMessage objects Bit Message Meaning CANopen error messagesError register Error code tableError code Meaning SDO error message AbortData type Value range Data length Specifications for the objectsObject directory Object code Meaning CodingObjects, overview Index Subindex Designation Obj. code Data type AccessDevice type Error registerObjects of the product 100Ch Bit coding, subindex 00h1008h Manufacturer device nameIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit Acces Value Meaning Bit assignment subindex 01hBit 30 RTR bit Bit coding, subindex 02h1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryMoment of inertia TemperatureRotation TorqueTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface