JVL MAC050 User Manual page 229

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
PDO identifier:
In the CANOpen® profile it is only possibly to have four transmit and four receive PDOs
enabled at the same time. In the MAC00-FCxx all PDOs are disabled when the module
is booted up, the user has to choose which PDOs the application is to use, and enable
these.
The PDO configuration can be seen either in the EDS-file or in the CanOpen Explorer
program, here the communication and the mapping parameter are shown.
There are two standard methods to map the PDOs in CAN-Open, there is an static map-
ping and a dynamic mapping. In the static PDO mapping all PDOs are mapped in accord-
ance with some fixed non-modifiable setting in the relevant PDO. In the dynamic PDO
mapping the setting for a PDO can be modified. It is also allowed to have flexible combi-
nation of different process data during operation. The MAC00-FCxx module, use only
static mapping.
5.6.56 SDO (Service Data Objects):
SDO: can access all entries in the object directory, but they are normally used in the in-
itialization, during the boot up procedure. Some SDOs characteristic are:
- Confirmed transfer of objects
- Data transfer/exchange is always non-synchronous
- Values greater than 4 bytes are transferred (Normal transfer)
- Values not more than 4 bytes are transferred (Expedited transfer)
Basically a SDO is transferred as a sequence of segments. Prior to transferring the seg-
ment there is an initialization phase where client and server prepare themselves for
transferring the segment. For SDOs, it is also possible to transfer a data set of up to four
bytes during the initialisation phase. This mechanism is called an expedited transfer.
Down loading SDO protocol:
The download SDO protocol is used to write the values of the object directory into the
drive
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Client
0
7...5
Request
CCS=1
0
Confirm
SCS=3
TT1088GB
1
4 3...2 1
0
X n e s
1
7...5
4...0
X
Server
4
8 8
d
m
Indication
8
4
m
reserved
Response
225