ABB NCAN-02 - PDO and SDO Data Transfer

Chapter 6 – Communication
6-4 NCAN-02 Installation and Start-up Guide
Process Data Objects
(PDO)
Process Data Objects contain time-critical process data. Each PDO
contains three 16-bit words.
The COB IDs for PDOs are:
• PDO1 Rx (Master to Slave): 200h + Node ID
• PDO2 Rx (Master to Slave): 300h + Node ID
• PDO1 Tx (Slave to Master): 180h + Node ID
• PDO2 Tx (Slave to Master): 280h + Node ID
• PDO3 Rx (Master to Slave): 400h + Node ID
• PDO4 Rx (Master to Slave): 500h + Node ID
• PDO3 Tx (Slave to Master): 380h + Node ID
• PDO4 Tx (Slave to Master): 480h + Node ID
Note: The amount of activated PDOs depends on the value of fieldbus
parameter 9 NO. OF DATA SETS.
The PDO transmission types are:
The transmission type of a PDO is defined in the PDO communication
parameter index. See the NCAN Object Dictionary (Communication
Profile Area, Index 1400h onwards) later in this chapter.
Transmission
Type
PDO Transmission
Cyclic Acyclic
Synchro-
nous
Asynchro-
nous
RTR only
0
++
1 - 240
++
241 - 251 Reserved
252
++
253
+
254
+
255
+