Pdo2 Rx - ABB NCAN-02 Installation And Startup Manual

Chapter 6 – Communication
Cyclic transmission mode PDO1 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO1 is started only after the
first receipt of Rx PDO1.

PDO2 Rx

The PDO2 Rx object is received by the drive as Data set 3 (or Data set
12 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO2 Rx are as follows:
Master to Slave
Byte
Header
1 2 3 4 5 6
Reference 3 Reference 4 Reference 5
0110xxxxxxxryyyy
(2007h) (2008h) (2009h)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
References 3 to 5 are 16-bit words each containing a sign bit and a
15-bit integer. The way in which these values are used by the drive
depends on its parameter settings. See the drive documentation for
more information.
NCAN-02 Installation and Start-up Guide 6-7