Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD
98
Write bytes 0 and 1 of the pico-PLC area:
You will need to write the object by SDO with index-sub_index 0x2003-0x01 (0+1) with the
value corresponding to the operating code of the instruction to add. For example, the
instruction LD 90.0 requires the value 0x00 to be written in byte 0 and 0x5a in byte 1.
In addition to the objects described above, other objects are implemented based on
CANopen’s Predefined Connection Set, although these are not found in the object
dictionary. These objects can be useful in accessing drive movement parameters.
PDO (tx/rx) object
PDO2 (tx/rx) object :
A protocol for parameter access, pico-PLC instructions, and drive cam table
is implemented by exchanging the 8+8 read/write bytes of the PDO2, which,
when the master receives the message PDO2 rx, interprets the contents of
the first 7 bytes in accordance with the following format:
Acyclic data write message or parameter request from master to drive (PDO 2)
Acyclic data write or request
Data length
7 byte
Field Name
Cmd & Len
Data Address
Data
Contents
5 bit command and 3 bit
length
16 bit data address
32 bit data
Identifier
ID2
ID1
ID0
- - - - - ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3
A2 A1 A0 X X X X X 0 1 1 0 A6 A5 A4 A3
A0:A6
Drive movement address (Pr49), valid values 1..127.
Data
For data writing, the field will contain the value of the parameter.
For bit change, the field will contain the mask of the bits to change.
For data reading, the field is insignificant.
For pico-PLC writing, it will contain the operating code of the
instruction (see
Serial interface
).
Data Address
This field is the address of the parameter involved in the operation
(parameter number * 2). The PLC instructions have addresses in the
range 8192 to 8447.
The cam table has addresses from 4096 to 4608.
Cmd & Len
Sub-field Value
Meaning
Cmd
[0..4]
0
Read request
1
Write
2
SET bit Pr = Pr .OR. Data
3
RESET bit Pr = Pr .AND. (.NOT.Data)
4
TOGGLE bit Pr = Pr .XOR. Data
5 – 31 Not use
Len [5..7] 0- 4
Number of significant bytes in the data field
