Managed Services - TDE MACNO MINIOPD EXP User Manual

4.2.1.2 CONFIGURATION OF THE COMMUNICATION OBJECTS
The configuration of the communication objects CAN OPEN DS301 can uniquely be done via CAN.
At first switch on, the drive is a non-configured node which satisfies the "pre defined connection set"
for the identifiers allocation; for this, the following objects are available:
rx SDO with COB-ID = 600h + ID CAN node (parameter P162)
tx SDO with COB-ID = 580h + ID CAN node
an emergency object with COB-ID = 80h + ID CAN node
NMT objects (Network Management) : in broadcast (COB-ID=0) for Module Control services and
COB-ID = 700h + ID CAN node for Error Control.
The SYNC object in broadcast with COB-ID = 80h
With the SDO available, the drive can be totally configured as CAN node and only after the
communication objects can be saved in the permanent memory using the proper command "store
parameters" (1010h)" on the Sub-Index 2.
Also the object "restore default parameters (1011h)" Sub-Index 2 is managed to load all the default
communication objects and to save them automatically in the permanent memory (switch off and then
on the drive to make objects operating ).

4.2.2 MANAGED SERVICES

4.2.2.1 SERVICE DATA OBJECT (SDO)
SDO are used to access the objects dictionary. In our implementation a maximum of 4 server SDO
can be available which can be configured with the following objects:
st
1200h 1 server SDO parameter
nd
1201h 2 server SDO parameter
rd
1202h 3 server SDO parameter
th
1203h 4 server SDO parameter
The transfer mode depends on the length of the data to be transferred : up to 4byte data length, the
modality expedited is used as it is simple and immediate; for bigger size objects the modality
segmented and block are both supported. See the specific Communication Profile DS301 for having
details on the different transmission modes; hereinafter are written only some peculiarities of our
implementation:
a writing access to SDO must indicate the number of significant byte (data set size)
the writing data by SDO is liable to the same rules ( drive state, keys, tolerated range...) seen for the
other modalities of parameters modify (serial and keyboard).
If SDO are structured in more segments, the drive will start writing the data at the indicated address
with the first segment, without using a temporary buffer
A controller is intended to avoid that two SDOs access the same object at the same time.
With the transmission in block modality, the computation of CRC and the "Protocol Switch Threshold"
are not supported.
It is possible to set the block size of the SDO Block Download service at the address 2000h of the
objects dictionary, in the manufacturer specific section.
4.2.2.2 PROCESS DATA OBJECT (PDO)
PDO are used for the data exchange in real-time in the objects dictionary that supports this function
4.2.2.3 TRANSMIT PDO
In our implementation up to a maximum of 4 TPDO can be configured with the following objects :
st
1800h 1 Transmit PDO Communication parameter
nd
1801h 2 Transmit PDO Communication parameter
rd
1802h 3 Transmit PDO Communication parameter
th
1803h 4 Transmit PDO Communication parameter
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