Schneider Electric DS301 Bit assignment subindex 01h, Bit 30 RTR bit, Bit coding, subindex 02h

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8 Object directory

IL•1F CANopen DS301

Subindex	04h, compatibility entry R_PDO4
Meaning	For compatibility purposes only
Access	read-write
PDO mapping	–
Value range	–
Default value	–
Can be saved	–


Subindex	05h, event timer R_PDO4
Meaning	Time setting for event triggering
Access	read-write
PDO mapping	–
Value range	–
Default value	0
Can be saved	–

Bit assignment subindex 01h

Bit	Acces	Value	Meaning
	s

31	rw	0b	0: PDO is active 1: PDO is inactive
30	ro	0b	0: RTR (see below) is possible 1: RTR is not per-
			mitted

29	ro	0b	0: 11 bit identifier (CAN 2.0A) 1: 29 bit identifier
			(CAN 2.0B)

28-11	ro	0000h	Only relevant if bit 29=1 is not used by the product.
10-7	rw	0100h	Function code, bit 10-7 of the COB ID
6-0	ro	–	Node address, bit 6-0 of the COB ID

Bit 31 A R_PDO can only be used if bit 31="0".

	Bit 30 RTR bit		If a device supports R_PDOs with RTR (remote transmission request),
			it can request a PDO from a PDO producer with RTR = "0" in accordance
			with the producer-consumer relationship.
			The product cannot request PDOs, but it can respond to the request for
			a PDO, see RTR bit for T_PDO1 settings (1800h).
Bit coding, subindex 02h			The control for evaluating R_PDO data is specified via subindex 02h.
			The values 241..251 are reserved.

Transmission type	cyclic	acyclic		synchronous	asynchronous	RTR-controlled

0	–	X		X	–	–
							11.2008
1-240	X	–		X	–	–	11.2008
1-240	X	–		X	–	–

252	–	–		X	–	X
							V2.01,
253	–	–		–	X	X	V2.01,
253	–	–		–	X	X

254	–	–		–	X	–	0198441113586,

255	–	–		–	X	–
255	–	–		–	X	–

86	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 CAN-Bus IntroductionAbout this manual 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 modelIndex 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 Communication relationships Master slave relationshipsClient-server relationship SDO data exchange Service data communicationOverview 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 controlPersistent 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 Commissioning the deviceCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive 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 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 diagnosticsMessages on the device status Error diagnostics via fieldbusMessage objects 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, overviewDevice type Error registerObjects of the product 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