Pdo3 Tx; Pdo4 Rx - ABB NCAN-02 Installation And Startup Manual

PDO3 Tx

Asynchronous
transmission mode
Cyclic transmission mode

PDO4 Rx

NCAN-02 Installation and Start-up Guide
The PDO3 Tx object is transmitted by the drive as Data set 6 (or Data
set 15 if NCAN-02 parameter DATA SET OFFSET is set to
FB D SET 10). The contents of PDO3 Rx is as follows:.
Slave to Master
Header
1
Actual Value 6
0111xxxxxxxryyyy
(2010h)
0101 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
Actual values 6 to 8 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.
PDO3 Tx is automatically transmitted to the CAN bus master in the
time interval defined in index 2000 Sub-index 3 (default 80 ms).
Automatic transmission is stopped when communication with the
master is lost.
PDO3 Tx is also transmitted every time PDO3 Rx is received.
PDO3 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO3 is started only after the
first receipt of Rx PDO3.
The PDO4 Rx object is received by the drive as Data set 7 (or Data set
16 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO4 Rx is as follows:
Master to Slave
Header
1
Reference 9
1010xxxxxxxryyyy
(2013h)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
References 9 to 11 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.
Chapter 6 – Communication
Byte
2 3 4
Actual Value 7 Actual Value 8
(2011h)
Byte
2 3 4
Reference 10 Reference 11
(2014h)
5 6
(2012h)
5 6
(2015h)
6-9