Siemens Simovert Masterdrives Compendium page 576

Communication / CBC CANopen Communication Board
8.5-18
P711 (R_PDO parameter 1)
Parameter for R_PDO1
The settings for Receive_PDO1 can be made with this parameter.
PDO communication is deactivated when the parameter is set to 0 (default
setting).
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
"Hardware 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 1-26 can be set in this parameter according to the device selected in
parameter P719 from the list of Receive 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 23 must be received 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 of
P711.
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
10 9 8 7 6
PDO transmission
Acyclic synchr. asynchr.
X X
X
reserved
X
1
1
279 (117 hex)
6SE7087-6QX70 (Version AD)
02.2004
PDO No.
5 4 3 2 1
RTR only
X
X X
X
X
Low byte (PDO number)
23
17
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SIMOVERT MASTERDRIVES
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