Receive Pdos (Rxpdo) - Kollmorgen S300 Interface Manual

Kollmorgen
4.3.1

Receive PDOs (RXPDO)

Four Receive PDOs can be configured in the servo amplifier:
- configuration of the communication (Objects 1400-1403
- configuration of the PDO-contents (mapping, Objects 1600-1603
4.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)
Index
Name
Object code
Data type
Category
Defined sub-indices
Subindex
Name
Data type
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
—
—
CANopen for S300/S700
1400
receive PDO parameter
RECORD
PDO CommPar
mandatory
0
number of entries
UNSIGNED8
mandatory
ro
not possible
2
2
1
COB-ID used by PDO
mandatory
rw
not possible
UNSIGNED32
Index 1400
Index 1402
2
transmission type
mandatory
rw
not possible
UNSIGNED8
FF
Bit-Number Value
0
31
1
0
30
1
0
29
1
28 .. 11 X
10 .. 0 X
the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and
taken into actions,
values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO
contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one
is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted.
11/2018
h
... 1403 for RXPDO 1 ... 4
h h
: 200 + Node-ID
h h
: 400 + Node-ID
h h
h
Meaning
PDO exists / is valid
PDO does not exist / is not valid
RTR allowed on this PDO, not supported
RTR not allowed on this PDO, not supported
11 bit-ID (CAN 2.0A)
29 bit-ID (CAN 2.0B), not supported
Identifier-bits with 29 bit-ID, not relevant
Bits 10-0 of COB-ID
CANopen Drive Profile
)
)
h
Index 1401 : 300 + Node-ID
h h
Index 1403 : 500 + Node-ID
h h
51