ABB NCAN-02, Installation And Startup Manual

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Chapter 6 – Communication
NCAN-02 Installation and Start-up Guide 6-7
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:
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.
Master to Slave
Header
Byte
1 2 3 4 5 6
0110xxxxxxxryyyy
Reference 3
(2007h)
Reference 4
(2008h)
Reference 5
(2009h)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length