Siemens SIMOVERT MASTERDRIVES Manual page 536

02.2004
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
P715 (T_PDO parameter 1)
Parameter for T_PDO1
The settings for Transmit_PDO1 can be made with this parameter.
When the parameter is set to 0 (default setting), PDO communication is
deactivated.
Once the CB parameters have been input, the CBC checks the input against
the table. If it detects a parameterization error, it activates error F80 when the
system exits state 4 "Board configuration" or state 5 "Drive setting". The error
value for the parameterization error is then stored in r732.1 (see Subsection
8.5.8.3). Once you have acknowledged the error, the system returns to the
"Board configuration" state where you can correct the faulty parameter
assignment.
The parameter comprises 8 bits for PDO number and eight bits for
transmission type.
Transmission type
15 14 13 12 11
PDOs 1-22 can be set in this parameter according to the device selected in
parameter P719 from the list of Transmit PDOs (Subsection 8.5.2.4). Not all
PDOs can be selected in every set device. Impermissible selections are
identified in the list.
The transmission type is specified in the following table:
Transmission
type
cyclic
0
1-240 X
241-251
252
253
254
255
Example:
Receive PDO 1 must be transmitted cyclically after every Sync object.
The PDO number must be converted to a hexadecimal value and entered in
byte 0. The transmission type is entered as a hexadecimal value in byte 1 in
P715.
The CB parameters acknowledge only decimal values. For this reason, the
word, consisting of a high part (transmission type) and a low part (PDO No.)
must be converted to a decimal number.
High byte (transmission type)
Decimal value
Hex value
Param. Value
Compendium Motion Control
Communication / CBC CANopen Communication Board
10 9 8 7 6
PDO transmission
Acyclic synchr. asynchr.
X X
X
reserved
X
1
1
257 (101 hex)
PDO No.
5 4 3 2 1
RTR only
X
X X
X
X
Low byte (PDO number)
1
1
8.5-21
0