Balluff BDG F-NH Series, Configuration Manual

Page: 118 / 130

www.balluff.com 51
8.5 PDO Configu ration
8.5.1 PDO pa rameters
Four PDOs can be parameterised. The configuration of the PDO payload is called "PDO mapping". The default
configuration is:
Object PDO Default configuration (scheduling)
“Mapped” process data
1800h PDO1 asynchronous / on change of position value Position-value
1801h PDO2 synchronous / on every SYNC Position-value
1802h PDO3 synchronous / on every SYNC High Precision-value
1803h PDO4 disabled
Table 8.45: Default PDO configuration
There are five different types of transmission for every PDO:
Sub-Index 2 Sub-Index 5 Description
01h-F0h n.n. PDO synchronous / on a SYNC
FFh 0000h PDO disabled
FEh 0001h-FFFFh PDO asynchronous / triggered by event timer
AND change in position value
FEh 0000h PDO asynchronous / triggered by change of
position value
FFh 0001h-FFFFh PDO asynchronous / triggered by event timer
Table 8.46: Selectable PDO transmission types
•
Parameters can be changed in Pre-Operational only and have to be saved into
EEPROM!
To completely disable a PDO, you have to change the MSB of the PDO-COBID object:
PDO Object COB-ID object PDO enabled COB-ID object PDO disabled
1 1800h 4000 0181h C000 0181h
2 1801h
4000 0281h C000 0281h
3 1802h 4000 0381h C000 0381h
4 1803h 4000 0481h C000 0481h
Table 8.47: PDO-Deactivation
For example PDO1 shall be disabled by this SDO write command:
600h+ID 8 23h 00h 18h 01h 81h 01h 00h C0h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.48: Example - PDO1 deactivation
•
Advanced parameterisation of the PDO COB-ID (objects 1800h-01h, objects
1801h-01h, objects 1802h-01h, objects 1803h-01h) is possible. As long as no
"save communication objects" or "save all parameters" has been performed, a
change of the node ID will automatically effect the COB IDs.
•
After a save command, the PDO COB-IDs have to be changed manually or
perform a "restore all parameters".