26.8.11
UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3
15
Deutschmann Automation GmbH & Co. KG
Mode of operation of the system
4.3.5.2
Bit 6: set operational toggle bit
If this bit is changed the Gateway sends the message ’set operational’ to the slaves. This feature
is to be used if some slaves are slower than the master, and are only then ready when the
master already sent this message.
This setting is available from Gateway software-revision 1.1 on.
4.3.5.3
Bit 5: RTR - Request to response
With this bit (transition from 0 -> 1) RTR-telegrams can be sent to any PDO mapped as Rx. This
RTR results in the fact that the addressed PDOs are sent and with it they are updated in the
Gateway.
If the RTR-function is used, at least 1 Rx-PDO has to be mapped. Furthermore the amount of
mapped Rx-PDOs must not exceed 50, since otherwise it will result in an overrun.
This setting is available from Gateway software-revision 2.3 on.
4.3.6
Gateway error byte
The Gateway’s current error state itselfcan be shown in the Profibus as well as the other values
of the node guarding or the slave data.
Setting of the error byte
This setting is available from Gateway software-revision 1.1 on.
4.3.7
SDO Obj Mapping
Available from Gateway software-revision 2.2 on!
SDO-transfer through a "window" in the PB. Here the following fixed data record structure is used
in the PB, that is mapped to the PB-data from the PB-index on. With it a difference is made bet-
ween:
PB-Idx (In) = Data from the PB-Master (PLC) to UNIGATE
PB-Idx (Out) = Data to the PB-Master (PLC) from UNIGATE
The user has to see to it that enough space is reserved for the longest data record in the
PB-data.
The SDO-transfer is always initiated by the PB-Master and it is completed when Request-no. in
the PB-output-data is identical to the Response-no. in the PB-input-data.
Data record structure (PB-input = data from the PB-Master):
0 1 2 3 4 5 6 7..n
+-----------+-------+---------+------------+-----------+----------+-----------+
| Obj-Index | Index | Command | Request-no | Node-no | Data-Len | Data ... |
+-----------+-------+---------+------------+-----------+----------+-----------+
|
+- 1 = Read, 2 = Write, Other value = Not supported
