Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 517
8400 HighLine | Parameter setting & configuration
System bus "CAN on board"
Process data transfer
10.7.1 Available process data objects
Controllers of the 8400 series have a maximum number of 3 receive PDOs (RPDOs) and 3
transmit PDOs (TPDOs).
Receive PDOs (RPDOs)
The process data objects transmitted from the CAN bus to
the drive are processed via the
LP_CanIn1
... LP_CanIn3 port blocks.
Every port block provides 4 words (2 bytes/word). The data of every first word are
provided in a bit decoded manner (bit 0 ... 15).
The first word of the LP_CanIn1
port block is defined as control word wCtrl. The wCtrl
control word does not
have a permanent connection to the device control and can be
used as required. The predefined assignment of the wCtrl control word in the
C00007
= "30: CAN" control mode depends on the technology application selected in
C00005
:
– TA "Actuating drive speed": Control words wCANDriveControl/wMCIDriveControl
( 273)
– TA "Switch-off positioning": Control words wCANDriveControl/wMCIDriveControl
( 336)
Transmit PDOs (TPDOs)
The process data transmitted from the drive to
the CAN bust are processed via the
LP_CanOut1
... LP_CanOut3 port blocks.
Every port block receives 4 words (2 bytes/word). The data of every first word are
transmitted bit by bit (bit 0 ... 15).
The first word of the LP_CanOut1
port block is defined as the wState status word. The
wState status word does not
have a permanent connection to the device control and
can be used as required.
– For the predefined assignment, see the wDeviceStatusWord status word
of the drive
interface.
Process data object Version
"BaseLine C"
from version
"StateLine"
RPDO1 | Port block "LP_CanIn1"
zz
RPDO2 | Port block "LP_CanIn2"
zz
RPDO3 | Port block "LP_CanIn3"
z
TPDO1 | Port block "LP_CanOut1"
zz
TPDO2 | Port block "LP_CanOut2"
zz
TPDO3 | Port block "LP_CanOut3"
z
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