Schneider Electric DS301 manual Structure of TPDO4

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IL•1F CANopen DS301

3 Basics

Structure of T_PDO4:

Byte 1

2

3

4

5

6 7

8

actual position (pact), 32 bits IO_act, 8 bits

modeStat, 8 bits

driveStat, 16 bits

	driveStat
Bit	15	14	13	12 --- 8
	x err	x_end	x_info	0 0 0 0 0

7	6	5	4	3 --- 0
warn	Sig_SR	FltSig	0	cos

modeStat

Bit 7 6 5 4 3 2 1 0

MT ME ref_ok 0 0

mode

actual operation mode

drive referenced Mode Error

Mode Toggle

	IO_act
Bit	7	6	5	4	3	2	1	0
	0	0	STO_B STO_A		IO3	IO2	IO1	IO0

STO_A / STO_B

(PWRR_A / PWRR_B)

Figure 3.20 Structure of T_PDO4

Status word driveStat The information in the status word driveStat corresponds to bits 0

...15 of object Status.driveStat, 28:2. Contents of information:

•State of state machine

•Warning and error bits

•Status of the current operating mode

0198441113586, V2.01, 11.2008

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 Introduction About this manualCAN-Bus 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 profilesCommunication profile Object dictionaryIndex Subindex Object Meaning 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 Service data communication OverviewSDO data exchange 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 slave State 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 servicesNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample 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 troubleshootingError diagnostics via fieldbus Message objectsMessages on the device status 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 AccessError register Objects of the productDevice type 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