Infranor XtrapulsGem User Manual

43
X
trapulsPac - User Guide
Chapter 3 – Reference
Index 0x23A1
Name TPDO Control
Object Code ARRAY
Number of Elements 4
Value Description
Sub Index 1-4
Description TPDO control for TPDO n.
Data Type Unsigned8
Access rw
PDO Mapping No
Value Range 0..255
Default Value 0
3.1.1.6 - Service Data Objects (SDO)
The SDO is a communication channel with 2 basic characteristics:
- Client/Server relationship,
- Object Dictionary.
Client/Server
:
This is a relationship between a single client and a single server (Servo Drive). A client issues a request
(upload/download) thus triggering the server to perform a certain task. After finishing the task, the server answers
the request.
Object Dictionary
:
All objects (variables, constants, records...) of the server are defined as a list of objects where each element is
appointed by an index and a sub-index. This object list is called object dictionary. This object dictionary allows the
client accessing all objects of the server. The Servo Drive object dictionary consists of 2 parts: the communication
profile (DS-301) for the objects related to the CAN communication and the device profile (DSP-402) for objects
related to the drive functionality.
For more information about the SDO protocol, please report to the CiA DS-301 version 4.01 specification.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English