Stober SC6 Series, Руководство по эксплуатации

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7 | Commissioning STOBER
36
02/2020 | ID 443025.06
7.2.9 Special case: Adding to the PDO transmission
ü Are you working with a controller-based operating mode (SoftMotion) and need expanded PDO transmission?
Proceed as described in the following steps. Note that you can transmit a maximum of 24 CiA objects or drive
controller parameters per channel.
1. In the device tree, navigate to the drive controller whose PDO transmission you would like to expand and double click
to open it.
2. Switch to the General vertical tab > Additional area.
3. Enable Expert Settings :
Activate this option.
4. Switch to the Expert Process Data Mode vertical tab.
5. PDO list :
The list contains one transmit and one receive channel for each parameterized SoftMotion axis.
Highlight the channel whose PDO transmission you would like to expand.
ð PDO Content : This area shows all PDOs that are exchanged between the controller and drive controller over the
selected channel.
6. Click on Insert .
ð The Select Item from Object Directory dialog box opens. The directory contains a selection of available CiA objects
(along with the coordinates and the name of the corresponding drive controller parameter from STOBER).
7. Highlight the CiA object for which you would like to extend PDO transmission and confirm with OK .
If the desired CiA object is not included in the directory, enter its index and subindex in the corresponding fields (if
necessary, calculate both indices as described in the chapters Manufacturer-specific parameters: 2000 hex – 53FF hex
[
}
77] and Manufacturer-specific parameters: A000 hex – D3FF hex [
}
81] ).
Also select the data type that matches the data type of the drive controller parameter and confirm with OK .
ð The selected CiA object or the specified drive controller parameter has been added to the PDO content of the
selected channel.
8. Repeat steps 6 – 7 for all other CiA objects for which you would like to extend PDO transmission for the selected
channel.
9. Switch to the associated DriveControlSuite project and add to the PDO transmission there in the same way as the
additions in AS6 (see Configuring PDO transmission [ } 25] ).
ð The expansion of PDO transmission takes effect the next time the EtherCAT master is started.