SEW MOVIDRIVE MDX60B, User Manual

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Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
5.4.3 SYNC object
The SYNC object is used to transfer the process data of several PDOs consistently and
at a specific time to the process data buffer of MOVIDRIVE
®
B. All the PDOs which are
to be synchronized with the SYNC object have to be operated in transmission mode 0 -
240. If the transmission mode of TX-PDO is set to 4, MOVIDRIVE
®
B will send this TX-
PDO after every fourth SYNC message. With RX-PDOs, its data will be transferred to
the PO data buffer with every SYNC message.
Changing the
COB ID of the
SYNC object In "initializing status", the MOVIDRIVE
®
B defines the COB ID of the SYNC object as
080
hex
. The COB ID should be changed in the "pre-operational" unit state. Although it
can also be changed in the operational status, the CAN controller is temporarily sepa-
rated from the bus. This means process data losses may occur in the operational status.
As the MOVIDRIVE
®
B only is a SYNC consumer and only works with 11-bit COB IDs,
bits 30 and 29 must always be set to "0". The structure of the COB ID and the meaning
of the individual bits are described in the table below. The COB ID of the SYNC message
is addressed as 32-bit value via index 1005
hex
, subindex 0.
Bit
31 (MSB) 30 29 28 - 11 10 - 0 (LSB)
X 0/1 0 0 11-bit identifier
Bit Value Meaning
31 (MSB) X Do not care
30
0 Device does not generate SYNC message
1 Device generates SYNC message
29
0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 - 11
0 If bit 29 = 0
X If bit 29 =1: bits 28 - 11 of 29-bit-SYNC-COB-ID
10 - 0 (LSB) X Bits 10 - 0 of SYNC-COB-ID