Infranor XtrapulsGem User Manual

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X
trapulsPac – User Guide
Chapter 3 - Referenc
e
3.1.1.2 - Default COB-ID
The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127.
10 9 8 7 6 5 4 3 2 1 0
Function Code NODE-ID
Default COB-ID:
Broadcast objects of the pre-defined connection set:
Object Function Code Resulting COB-ID Communication Parameter at Index
NMT 0000 0 -
SYNC 0001 128 (80h) 1005h, 1006h, 1007h
Peer-to-peer objects of the pre-defined connection set:
Object Function Code Resulting COB-ID Communication Parameter at Index
EMERGENCY 0001 129 (81h) - 255 (FFh) 1014h
PDO1 (TX) 0011 385 (181h) - 511 (1FFh) 1800h
PDO1 (RX) 0100 513 (201h) - 639 (27Fh) 1400h
PDO2 (TX) 0101 641 (281h) - 767 (2FFh) 1801h
PDO2 (RX) 0110 769 (301h) - 895 (37Fh) 1401h
PDO3 (TX) 0111 897 (381h) - 1023 (3FFh) 1802h
PDO3 (RX) 1000 1025 (401h) - 1151 (47Fh) 1402h
PDO4 (TX) 1001 1153 (481h) - 1279 (4FFh) 1803h
PDO4 (RX) 1010 1281 (501h) - 1407 (57Fh) 1403h
SDO (TX) 1011 1409 (581h) - 1535 (5FFh) 1200h
SDO (RX) 1100 1537 (601h) - 1663 (67Fh) 1200h
TX = Transmit from drive to master
RX = Receive by drive from master
3.1.1.3 - Network Management Objects
NMT Protocols
NMT Protocol Command Specifier CS Remarks
Start Remote Node 1 Change to NMT Operational state
Stop Remote Node 2 Change to NMT Stop state
Enter Pre-Operational 128
Reset Node 129
Reset Communication 130
Node-ID: The Node-ID indicates the address of the drive. If Node_ID = 0, the protocol addresses all NMT slaves.
CS Node-ID
0 1 2
NMT Master NMT Slave(s)
Indication
Request
COB-ID = 0

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English