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Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
175
The send PDO (TPDO) function of FD5 series servo drives supports synchronous and asynchronous
transmission modes, and the corresponding transmission type can be selected according to the
transmission mode. For the receiving PDO (RPDO), in the non-interpolation mode when the driver node is
turned on, as long as the RPDO message sent from the bus is detected, the object data will be received in
real time, which has nothing to do with the transmission type setting
.
In interpolation mode, the drive will
receive data first after detecting the RPDO signal, but will update the object data only at a specific point in
time. For detailed interpolation mode control see chapter
10.3.4 Description.PDO prohibition time
A PDO can specify a prohibition time, that is to define the minimum interval between
two consecutive PDO transmissions, to avoid the problem that the data volume of high -
priority information will always occupy the bus and make other data with lower priority
unable to compete for the bus. The disable time is defined by a 16-bit unsigned integer,
the unit is 100ms.
⚫
PDO Event time
The cycle time for the drive to send the PDO message to the controller in the asynchronous
transfer mode, in ms. Note that when using event time, the inhibit time should be set to 0.
Description of protection method/supervision type
Supervision type refers to which inspection method the master station chooses to check the
slave station during the running process, judge whether the slave station is faulty or not by these
two methods, and make corresponding treatment according to these faults.
1
、 Master heartbeat message
The slave station periodically uploads messages to the master station with the "supervision
time". If the master station has not received the next heartbeat message from the slave station
after the "heartbeat client time", the master station judges that the communication is wrong and
generates an alarm!
Table
10-15
Format of heartbeat message uploaded by slave station
COB-ID Byte 0
0x700+Node_ID
Status
2 、 Slave heartbeat message
The master station periodically sends messages to the slave station according to the
"supervision time". If the slave station has not received the next heartbeat message from the
master station after the "heartbeat producer time", the slave station will determine that there is a
communication error! When the communication interrupted mode
（
0x600700
） is
1
，
When the
CAN communication fails, the drive will alarm and stop.
Table 10-16 Format of the heartbeat message sent by the master station
COB-ID Byte 0
0x700+
Master station
ID
Master station status