Schneider Electric DS301 manual 1603h Receive PDO4 mapping

Page 87

IL•1F CANopen DS301

8 Object directory

0198441113586, V2.01, 11.2008

If an R_PDO is transmitted synchronously (transmission type=0..252), the product evaluates the received data depending on the SYNC object.

•In the case of acyclic transmission (transmission type=0), the evalu- ation depends on the SYNC object, but not the transmission of the PDO. A received PDO message is evaluated with the following SYNC.

A value between 1 and 240 specifies the number of SYNC cycles after which a received PDO is evaluated.

The values 252 to 254 are relevant for updating T_PDOs, but not for sending them.

•252: Updating of transmit data with receipt of the next SYNC

•253: Updating of transmit data with receipt of a request from a PDO consumer

•254: Updating of data in an event-controlled way, the triggering event is specified in a manufacturer-specific way

R_PDOs with the value 255 are updated immediately upon receipt of the PDOs. The triggering event is the data that is transmitted corresponding to the definition of the device profile in the PDO.

Subindex 03h The "Inhibit time" interval is only relevant for T_PDOs.

A T_PDO is retransmitted after expiration of the "Inhibit time" interval at the earliest. The value is specified as a multiple of 100 μs, however, it is rounded down to milliseconds as an integer value.

Subindex 04h The value is reserved and not used. Write or read access triggers an SDO error message.

Subindex 05h The time interval "event timer" is only relevant for T_PDOs. A T_PDO is transmitted after expiry of the time interval "event timer". At the same time, the time interval is restarted. The "transmission type" must be set to one of the values 254 or 255 via subindex 02h.

Settings R_PDO4 is processed asynchronously and in an event-controlled way.

The byte assignment of R_PDO4 is specified via PDO mapping with the object Receive PDO4 mapping (1603h) and cannot be modified. The assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master -> slave)".

The COB ID of the object can be changed in the NMT state "Pre-Oper- ational".

1603h Receive PDO4 mapping

The object specifies the objects mapped in R_PDO4 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read.

Object description

Index

1603h

Object name

receive PDO4 mapping

Object code

RECORD

Data type

PDO Mapping

 

 

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 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 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
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