Kollmorgen S300

4.3.1 Receive PDOs (RXPDO)
Four Receive PDOs can be configured in the servo amplifier:
- configuration of the communication (Objects 1400-1403
h
)
- configuration of the PDO-contents (mapping, Objects 1600-1603
h
)
4.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)
Index 1400
h
... 1403
h
for RXPDO 1 ... 4
Name
receive PDO parameter
Object code
RECORD
Data type
PDO CommPar
Category
mandatory
Defined sub-indices
Subindex 0
Name
number of entries
Data type
UNSIGNED8
Category
mandatory
Access
ro
PDO Mapping
not possible
Value Range
2
Default Value
2
Subindex 1
Name
COB-ID used by PDO
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
Index 1400
h
: 200
h
+ Node-ID Index 1401
h
: 300
h
+ Node-ID
Index 1402
h
: 400
h
+ Node-ID Index 1403
h
: 500
h
+ Node-ID
Subindex 2
Name
transmission type
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED8
Default Value
FF
h
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit-Number Value Meaning
31
0 PDO exists / is valid
1 PDO does not exist / is not valid
30
0 RTR allowed on this PDO, not supported
1 RTR not allowed on this PDO, not supported
29
0 11 bit-ID (CAN 2.0A)
1 29 bit-ID (CAN 2.0B), not supported
28 .. 11 X Identifier-bits with 29 bit-ID, not relevant
10 .. 0 X Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
— the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and
taken into actions,
— values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO
contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one
is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted.
CANopen for S300/S700 51
Kollmorgen 11/2018 CANopen Drive Profile