Pdo2 Tx; Pdo3 Rx - ABB NCAN-02 Installation And Startup Manual

Chapter 6 – Communication

PDO2 Tx

Asynchronous
transmission mode
Cyclic transmission mode

PDO3 Rx

6-8
The PDO2 Tx object is transmitted by the drive as Data set 4 (or Data
set 13 if NCAN-02 parameter DATA SET OFFSET is set to
FB D SET 10). The contents of PDO2 Rx is as follows:
Slave to Master
Header
1
Actual Value 3
0101xxxxxxxryyyy
(200Ah)
0101 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
Actual values 3 to 5 are 16-bit words each containing a sign bit and a
15-bit integer. The values to be transmitted to the CAN bus master are
selected by drive parameters. See the drive documentation for more
information.
PDO2 Tx is automatically transmitted to the CAN bus master in the
time interval defined in index 2000 Sub-index 2 (default 60 ms).
Automatic transmission is stopped when communication with the
master is lost.
PDO2 Tx is also transmitted every time PDO2 Rx is received.
PDO2 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO2 is started only after the
first receipt of Rx PDO2.
The PDO3 Rx object is received by the drive as Data set 5 (or Data set
14 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO3 Rx is as follows.)
Master to Slave
Header
1
Reference 6
1000xxxxxxxryyyy
(200Dh)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
References 6 to 8 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.
Byte
2 3 4
Actual Value 4 Actual Value 5
(200Bh)
Byte
2 3 4
Reference 7 Reference 8
(200Eh)
NCAN-02 Installation and Start-up Guide
5 6
(200Ch)
5 6
(200Fh)