COMMUNICATION OBJECTS DESCRIPTION
UNSIGNED32
Index (16 bits)
Sub-index (8 bits)
Object size (8 bits)
For instance, analyzing the standard mapping of the fourth transmit PDO, we have:
Sub-índice 0 = 2:
This PDO has two mapped objects.
Sub-índice 1 = 22A8.0010h:
the first mapped object has an index equal to 22A8h, sub-index 0 (zero), and a
size of 16 bits. This object corresponds to the parameter S5.1.1 Status Word SSW.
Sub-índice 2 = 2018.0020h:
the second mapped object has an index equal to 2018h, sub- index 0 (zero), and
a size of 32 bits. This object corresponds to the parameter S1.1.4 Current Average.
It is possible to modify this mapping by changing the quantity or the number of mapped objects. Remember that a
maximum of 4 objects or 8 bytes can be mapped.
✓
NOTE!
In order to change the mapped objects in a PDO, it is first necessary to write the value 0 (zero) in the
sub-index 0 (zero). In that way the values of the sub-indexes 1 to 4 can be changed. After the desired
mapping has been done, one must write again in the sub-index 0 (zero) the number of objects that
have been mapped, enabling again the PDO.
8.4 SYNCHRONIZATION OBJECT - SYNC
This object is transmitted with the purpose of allowing the synchronization of events among the CANopen network
devices. It is transmitted by a SYNC producer, and the devices that detect its transmission are named SYNC
consumers.
The soft-starter SSW900 has the function of a SYNC consumer and, therefore, it can program its PDOs to be
synchronous. Synchronous PDOs are those related to the synchronization object, thus they can be programmed
to be transmitted or updated based in this object.
RPDO#1RPDO#2
TPDO#1TPDO#2
RPDO#1RPDO#2
TPDO#1TPDO#2
SYNC
SYNC
Period
When receiving the SYNC, every consumer:
- Update data received by the RPDOs
- Update values and transmits TPDOs
Figure 8.3:
SYNC
The SYNC message transmitted by the producer does not have any data in its data field, because its purpose is to
provide a time base for the other objects. The following object is available for the configuration of the SYNC consumer:
Index
Sub-
index
Name
Type
Access
PDO
Mapping
Value
1015h
0
COB-ID SYNC
UNSIGNED32
RW
No
80h
SSW900 | 30
