Infranor XtrapulsGem User Manual

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X
trapulsPac - User Guide
Chapter 3 – Reference
Sub Index 4
Description Sync Error Limit
defines the limit at which the Sync error is triggered:
| SyncPeriod - [0x1006-0] | < SyncErrorLimit
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Unit µs
Default value 500
Sub Index 5
Description Sync Filter
applies a filter on Sync period measurement
Data Type Unsigned16
Object Class all
Access rw
PDO Mapping No
Value 0 disabled
1..4
Default value 0
3.1.1.5 - Process Data Objects (PDO)
PDOs are unconfirmed messages used for real-time data exchange.
PDOs sent by the master are RPDOs and PDOs sent by the drive are TPDOs.
Data in each PDO are defined by a list of objects (PDO mapping).
There are 4 PDOs: TPDO1, RPDO1, TPDO2, RPDO2, TPDO3, RPDO3, TPDO4 and RPDO4.
Each PDO is defined by:
PDO communication parameters with:
- object 0x1400, 0x1401, 0x1402, 0x1403 for RPDOs
- object 0x1800, 0x1801, 0x1802, 0x1803 for TPDOs
PDO mapping with:
- object 0x1600, 0x1601, 0x1602, 0x1603 for RPDOs
- object 0x1A00, 0x1A01, 0x1A02, 0x1A03 for TPDOs
Communication parameters
Communication parameters are:
- PDO COB-ID,
- Transmission type
The distribution of COB-ID is defined by default. The modification of COB-ID of PDO can be made in NMT Pre-
Operational State; the new COB-ID will take effect when the NMT state machine switches to Operation State. The
modification must not be taken in NMT Operational State, otherwise a Reset_Communication will be necessary
before the new COB-ID takes effect.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English