Schneider Electric DS301 manual @ Warning, Transmit PDO TPDO4 product to master

3 Basics IL•1F CANopen DS301

Reference positions are entered in increments, reference speeds in [min-1].

@ WARNING

UNINTENDED OPERATION

•Note that any changes to the values of these parameters are exe- cuted by the drive controller immediately on receipt of the data set.

•Verify that the system is free and ready for movement before changing these parameters.

Failure to follow these instructions can result in death, serious injury or equipment damage.

If operating mode, reference position and reference speed are transmit- ted simultaneously in one PDO, data consistency is required. For this reason, the product evaluates the operating mode data only if bit 7 was toggled. Toggling means that a "0 -> 1" or a "1 -> 0" change of edge was detected.

Bit 7 is mirrored in the response PDO4 from the product so that synchro- nized operation is possible via PDO4.

Handling of errors Requests for operating mode are triggered by toggling the bit 7 . If these requests cannot be executed, the product provides an error response as described in section Transmit PDO4 - Handling of errors.

3.4.2.3Transmit PDO T_PDO4 (product to master)

With the default product settings, the transmit PDO is sent asynchro- nously and in an "event-driven" way; an "Inhibit Time" can be set.

The product provides the master with the following information via

PDO4:

• State of state machine

•	Errors and warnings
•	Active operating mode
• Status of active operating mode
	–	Operating mode terminated
	–	Error occurred
	– Reference speed or reference position reached
	–	Actual position
•	Slave referenced
• Acknowledgement of operating mode requests
		11.2008V2.01,0198441113586,

• Status of the 24 V inputs and outputs

38 Fieldbus interface