COMMUNICATION OBJECTS DESCRIPTION
The EDS file brings the list of all objects available, informing whether the object can be mapped or not.
8.3.2 Receive PDOs
The receive PDOs, or RPDOs, are responsible for receiving data that other devices send to the CANopen network.
The soft-starter SSW900 has 4 receive PDOs, each one being able to receive up to 8 bytes. Each RPDO has two
parameters for its configuration, a PDO_COMM_PARAMETER and a PDO_MAPPING, as described next.
PDO_COMM_PARAMETER
Index
Sub-
index
Name
Type
Access
PDO
Mapping
Value
1400h até 1403h
0
Number of the last sub-index
UNSIGNED8
RO
No
4
1
COB-ID used by the PDO
UNSIGNED32
RW
No
200h / 300h 400h /
500h + Node-ID
2
Transmission Type
UNSIGNED8
RW
No
254
The sub-index 1 contains the receive PDO COB-ID. Every time a message is sent to the network, this object will read
the COB-ID of that message and, if it is equal to the value of this field, the message will be received by the device.
This field is formed by an UNSIGNED32 with the following structure:
Table 8.8:
COB-ID description
Bit
Value
Description
31 (MSB)
0
PDO is enabled
1
PDO is disabled
30
0
RTR permitted
29
0
Identifier size = 11 bits
28 - 11
0
Not used, always 0
10 - 0 (LSB)
X
11-bit COB-ID
The bit 31 allows enabling or disabling the PDO. The bits 29 and 30 must be kept in 0 (zero), they indicate respectively
that the PDO accepts remote frames (RTR frames) and that it uses an 11-bit identifier. Since the SSW900 does not
use 29-bit identifiers, the bits from 28 to 11 must be kept in 0 (zero), whereas the bits from 10 to 0 (zero) are used to
configure the COB-ID for the PDO.
The sub-index 2 indicates the transmission type of this object, according to the next table.
Table 8.9:
Transmission type description
Type of transmission
PDOs transmission
Cyclic
Acyclic
Synchronous
Asynchronous
RTR
0
•
•
1 - 240
•
•
241 - 251
Reserved
252
•
•
253
•
•
254
•
255
•
Values 0 – 240:
any RPDO programmed in this range presents the same performance. When detecting a
message, it will receive the data; however it won’t update the received values until detecting the next SYNC
telegram.
Values 252 e 253:
not allowed for receive PDOs.
Values 254 e 255:
they indicated that there is no relationship with the synchronization object. When receiving a
message, its values are updated immediately.
SSW900 | 27
