Schneider Electric DS301 manual Handshake with Mode Toggle Bit, Bit Name Description

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3 Basics

IL•1F CANopen DS301

Operating mode modeStat This field corresponds to bits 0 ... 2 of the object Status.xMode_act.

		Bits 6 and 7 provide additional information that can be used for synchro-
		nized operating mode control via the PDOs.
		The field contains the following information:

Bit	Name	Description

0...2	mode	currently set operating mode as in R_PDO4

5	ref_ok	Is set if homing of the product by means of a reference movement or position setting was
		successful.

6	ME, ModeError	Set if a request of the master via R_PDO4 data was rejected by the product.

7	MT, ModeToggle	Mirrors bit 7 (Mode Toggle) of R_PDO4

3.4.2.4Handshake with Mode Toggle Bit

Mode Toggle Synchronized processing is possible with the transmit data modeCtrl, bit 7 (MT) and the receive data modeStat, bits 6 (ME) and 7 (MT). Syn- chronized processing means that the master waits for feedback mes- sages from the slave so it can respond appropriately.

Example of positioning The master starts a positioning movement at point in time t0. At points in time t1, t2 ..., the master checks the responses from the slave. It waits for the end of the positioning movement by checking the Input Assembly for bit x_end = 1 (end of positioning).

Master	Slave		t0

Mode Toggle

1

t1

t2

t3

Mode Toggle

x_end

23

Figure 3.21 Mode Toggle Handshake

(1)Master starts positioning with MT = 1 in byte modeCtrl

(2)Slave signals that positioning is active with MT = 1 in

modeStat and simultaneously with x_end = 0 in driveStat

(4)Slave signals end of positioning with x_end = 1 in driveStat

0198441113586, V2.01, 11.2008

40	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 Basics CANopen technologyCANopen description language 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 Using SDO commands Writing parametersTransmit data 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 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, overviewObjects of the product Error registerDevice type 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