Festo CMMP Series, Manual

Page: 40 / 210

5. Access Procedure
40 Festo P.BE-CMMP-CO-SW-EN 0708NH
4rd Receive PDO
Index Comment Type Acc. Default Value
1403
h
_00
h
number of entries UINT8 ro 02
h
1403
h
_01
h
COB-ID used by PDO UINT32 rw C0000501
h
1403
h
_02
h
transmission type UINT8 rw FF
h
1603
h
_00
h
number of mapped objects UINT8 rw 02
h
1603
h
_01
h
first mapped object UINT32 rw 60400010
h
1603
h
_02
h
second mapped object UINT32 rw 60FF0020
h
1603
h
_03
h
third mapped object UINT32 rw 00000000
h
1603
h
_04
h
fourth mapped object UINT32 rw 00000000
h
5.3.3 Activation of PDOs
For the motor controller to send or recieve PDOs, the following points must be met:
- The object
number_of_mapped_objects
must not equal zero.
- In the object
cob_id_used_for_pdos
, bit 31 must be deleted.
- The communication status of the motor controller must be
operational
(see chapter 5.6, Network Management: NMT Service).
For parameters to be set for PDOs, the following points must be met:
- The communication status of the motor controller must not be
operational
.
5.4 SYNC message
Several devices of a system can be synchronised with each other. To do this, one of the
devices (usually the higher-level controller) sends out synchronisation messages
periodically. All connected controllers receive these messages and use them for handling
the PDOs (see chapter 5.3).
Identifier: 80h
80
h
0
Data length
The identifier, on which the motor controller receives the SYNC message, is set
permanently to 080
h
. The identifier can be read out via the object
cob_id_sync
.
Index
1005
h
Name cob_id_sync
Object code VAR
Data Type UINT32