Posital Fraba ACS080 CANopen, Руководство пользователя

Страница: 17 / 44

ACS CANopen Manual Version 20110928
17 of 44
AC C E L E N S ( AC S ) C AN o p e n
4.4 PDO Transmission
Process Data Objects (PDOs) communicate
process information/data and enable them to be
exchanged in real time.
A CANOpen device's PDO set describes the
implicit exchanges between this device and its
communication partners on the network.
The exchange of PDOs is authorized when the
device is in "Operational" mode.
Note: The PDOs can be directly mapped in to
memory locations on the controller and can be
viewed upon reading those memory locations.
An example is provided in the next section with
a SCHNEIDER-TWIDO controller.
Object 1800h: 1st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1st transmit PDO.
Subindex * Description Data Type
Default
Value
Access
Restore
after BootUp
0 0h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32
180h +
Node ID
rw yes
02h Transmission Mode Unsigned 8 FE rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 64h or 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)
Object 1801h: 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO.
Subindex* Description Data Type
Default
Value
Access
Restore
after BootUp
00h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32
280h +
Node ID
rw yes
02h Transmission Mode Unsigned 8 1 rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)