REXROTH IndraDrive Fc FCS01, Руководство по эксплуатации

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Control Communication - Field Busses and Protocols Rexroth IndraDrive FCS01.1
DOK-INDRV*--FCS01*****-IB01_EN-P
CANopen Data Transfer - Process Data Objects PDO
Control via PDOs
Process data are transmitted via PDOs: The frequency converter sends
its status data via transmit-PDOs and receives control data via receive-
PDOs. With FCS01 frequency converters, 4 transmit- and 4 receive-
PDOs are available characterized by different identifiers.
PDOs are transmitted unconfirmed. The significance of the transmitted
data is specified by the CAN identifier used and the PDO mapping. A
maximum of 8 bytes of data are transmitted.
PDO Operating Modes (Transmission Type)
Via "transmission type", it is specified when a transmit-PDO is sent, or
when the data of a receive-PDO are processed. These settings are made
in the objects 1400-1403 and 1800-1803. With FCS01 frequency
converters, the following settings are available:
Transmit PDO:
Transmission type Value
0 PDO is transmitted when a SYNC command has
been received and the data (status) have changed
since the last SYNC command.
1-240 PDO is transmitted when 1..240 SYNC commands
have been received, irrespective of whether the data
(status) has changed.
252-253 reserved
254,255 PDO is sent immediately when the data (status) has
changed
(standard setting)
Fig. 15-38: Send PDO
Receive PDO:
Transmission type Value
0-240 Data from the receive-PDO is only processed
when the next SYNC command is received.
252-253 reserved
254,255 Data from the receive-PDO is processed
immediately
(standard setting)
Fig. 15-39: Receive-PDO
PDO Mapping
Under PDO mapping (objects 1600-1603 or 1A00-1A03), the
arrangement of the process data in the receive- or transmit-PDOs is
specified. In each PDO, up to 8 byte of data can be transmitted.