Process Data Objects (Pdo) - ABB NCAN-02 Installation And Startup Manual

Chapter 6 – Communication
Process Data Objects
(PDO)
6-4
Process Data Objects contain time-critical process data. Each PDO
contains three 16-bit words.
The COB IDs for PDOs are:
• PDO1 Rx (Master to Slave): 200h + Node ID
• PDO2 Rx (Master to Slave): 300h + Node ID
• PDO1 Tx (Slave to Master): 180h + Node ID
• PDO2 Tx (Slave to Master): 280h + Node ID
• PDO3 Rx (Master to Slave): 400h + Node ID
• PDO4 Rx (Master to Slave): 500h + Node ID
• PDO3 Tx (Slave to Master): 380h + Node ID
• PDO4 Tx (Slave to Master): 480h + Node ID
Note: The amount of activated PDOs depends on the value of fieldbus
parameter 9 NO. OF DATA SETS.
The PDO transmission types are:
Transmission
Type
Cyclic
0
+
1 - 240
241 - 251
252
253
254
255
The transmission type of a PDO is defined in the PDO communication
parameter index. See the NCAN Object Dictionary (Communication
Profile Area, Index 1400h onwards) later in this chapter.
PDO Transmission
Synchro-
Acyclic
nous
+ +
+
Reserved
+
NCAN-02 Installation and Start-up Guide
Asynchro-
RTR only
nous
+
+
+
+