Receive PDO RPDO4 master slave | Schneider Electric DS301 manual

IL•1F CANopen DS301

3 Basics

0198441113586, V2.01, 11.2008

3.4.2.2Receive PDO R_PDO4 (master -> slave)

The master device can execute the following actions via the PDO4 chan- nel to the slave:

•Control the state machine of the slave

–Enable/disable the power stage of the product

–Trigger and reset a "Quick Stop"

–Resetting faults

•Toggle the operating modes

–Profile Position operating mode, absolute and relative

–Profile Velocity operating mode

–Reference movement

–Position setting

•Set reference values

–Reference position

–Reference speed

–Type of reference movement

Structure of R_PDO4:

Byte

1

2

3

4

5

6

7

8

Ref32 -> reference 32 bits - e.g. position

Ref16 -> reference 16 bits - e.g. velocity

modeCtrl

driveCtrl

	driveCtrl - 8 Bits
Bit	7	6	5	4	3	2	1	0
	0	0	0	QR	FR	QS	EN	DI

Disable

Enable

Quickstop

Fault Reset

					Quickstop Release
	modeCtrl - 8 Bits
Bit	7	6	5	4	3	2	1	0
	MT		ACTION		0		MODE

Requested Mode

Action within Mode

Mode Toggle

Figure 3.19 Structure of R_PDO4

Fieldbus interface

35

Image 35

Schneider Electric DS301 manual Receive PDO RPDO4 master slave, Structure of RPDO4

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 Fieldbus devices networked via can bus Operating modes and functions in fieldbus mode Can users and manufacturers organization Documentation and literature references Introduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description language Index hex Object groups Supported By the drive Objects IL1F CANopen DS301 Basics CANopen reference model CANopen profiles Index Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objects COB ID with function code and node address TPDO4 Master slave relationships Communication relationships Client-server relationship SDO data exchange Service data communicationOverview 11 SDO message, example SDO message Message type Data length used Bytes Reading and writing data Message type Data length used Byte Bytes 14 Reading a parameter value 15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchange UINT32 18 Requesting a message with RTR = Dynamic and static PDO mapping Structure of RPDO4 Receive PDO RPDO4 master slave State machine drivectrl JOG Operating modes modeCtrl Transmit PDO TPDO4 product to master @ Warning 20 Structure of TPDO4 Structure of TPDO4 Bit Name Description Handshake with Mode Toggle Bit Master Slave Xend 22 Mode Toggle Handshake, short movement Basics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service 25 Sync message Synchronization 27 Cyclic and acyclic transmission NMT services for device control Network management services Persistent 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 the device Commissioning Commissioning the fieldbus network Starting fieldbus modeAddress and baud rate Error Error class Cause of error Troubleshooting Troubleshooting Selecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Overview Operation Operation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit data Index 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 Velocity Operating mode Profile Position relative positioning Master --- Slave Position setting Operating mode Homing Asynchronous errors Error signaling via PDO4 Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshooting Messages on the device status Error diagnostics via fieldbusMessage objects Bit Message Meaning CANopen error messagesError register Error code table Error code Meaning SDO error message Abort Data type Value range Data length Specifications for the objectsObject directory Object code Meaning Coding Objects, overview Index Subindex Designation Obj. code Data type Access Device type Error registerObjects of the product 100Ch Bit coding, subindex 00h1008h Manufacturer device name Index 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 02h 1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameter Subindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables Glossary Moment of inertia TemperatureRotation Torque Terms and Abbreviations Default value Factory setting Power amplifier See power stage Can Index Index IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface