Accessories & Options 9-7
MN1276
Index Range The index range from 0x1000 to 0x100D is valid.
The following index ranges are important:
0x1400 1st PDO receive (communication)
0x1402 2nd PDO receive (communication)
0x1600 1st PDO receive (mapping)
0x1602 2nd PDO receive (mapping)
0x1800 1st PDO transmit (communication)
0x1802 2nd PDO transmit (communication)
0x1A00 1st PDO transmit (mapping)
0x1A02 2nd PDO transmit (mapping)
Object Entries The following object entries are available with PDO:
-- Read position (absolute and resolver position)
-- Read and write velocity
-- Read status
-- Write torque
The following object entries are available with SDO:
-- Variables and commands
Getting Started with CAN_OPEN
The CAN message transmission consists of an address (=Identifier = ID) followed
by 0 to 8 Data bytes. CAN drives use the following addresses (according to
CAN_OPEN, DS301):
PDO1 (Receive, Master to Drive): 0x200 + Node_ID
PDO2 (Receive, Master to Drive): 0x300 + Node_ID
PDO1 (Transmit, Drive to Master): 0x180 + Node_ID
PDO2 (Transmit, Drive to Master): 0x280 + Node_ID
NMT: 0x000
SYNC: 0x80
EMERGENCY: 0x80 + Node_ID
SDO (Master to Drive): 0x600 + Node_ID
SDO (Drive to Master): 0x580 + Node_ID
PDO = Process data transfer, fast communication ex: velocity command.
SDO = Service data transfer, slow communication to access all parameters inside the drive.
NMT = Network management task, to switch the PDOs free and to reset the drive.
SYNC = Specific CAN_OPEN message to do some synchronization.
EMERGENCY: The drive will send this message automatically if a fatal drive error occurs
Node_ID: Special setting (= drive number) for each drive. Range : 1 to 127
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