Data type PDO Communication parameter | Schneider Electric DS301

IL•1F CANopen DS301

8 Object directory

0198441113586, V2.01, 11.2008

1403h Receive PDO4 communication parameter

The object stores settings for the fourth receive PDO R_PDO4.

Object description

Index	1403h
Object name	receive PDO4 communication parameter
Object code	RECORD
Data type	PDO Communication parameter

Value description

Subindex	00h, number of elements
Meaning	Number of subindexes
Access	read-only
PDO mapping	–
Value range	–
Default value	5
Can be saved	–


Meaning	Identifier of the R_PDO4
Subindex	01h, COB-ID R_PDO4
Access	read-only
PDO mapping	–
Value range	–
Default value	0x40000500+nodeID
Can be saved	–


Subindex	02h, transmission type R_PDO4
Meaning	Transmission type
Access	read-write
PDO mapping	–
Value range	–
Default value	254
Can be saved	–


Subindex	03h, inhibit time R_PDO4
Meaning	Delay time for repeated transmissions (1=100 μsec)
Access	read-write
PDO mapping	–
Value range	0...65535
Default value	0
Can be saved	–

Fieldbus interface

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Schneider Electric DS301 manual Data type PDO Communication parameter

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 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 CANopen technology BasicsCANopen description language Communication layers Index hex Object groups Supported By the drive Objects IL1F CANopen DS301 Basics CANopen reference model CANopen profiles Object dictionary Communication profileIndex Subindex Object Meaning 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 Overview Service data communicationSDO data exchange 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 Initialization 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 the device Commissioning Address and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting Troubleshooting Creating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview Operation Operation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive data Reading 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 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 Message objects Error diagnostics via fieldbusMessages on the device status Error register CANopen error messagesError code table Bit Message Meaning Error code Meaning SDO error message Abort Object directory Specifications for the objectsObject code Meaning Coding Data type Value range Data length Objects, overview Index Subindex Designation Obj. code Data type Access Objects of the product Error registerDevice type 1008h Bit coding, subindex 00hManufacturer device name 100Ch 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 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning 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 Rotation TemperatureTorque Moment of inertia 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