Motion iWMC Series - Page 50

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2. The funcon codes of COB-ID in every level are xed;
3. COB-ID of 00H, 80H, 100H, 701H-77FH, 081H-0FFH are system management format;
4. COB-ID supported by the servo
Send PDO (TXPDO)
Send PDO of servo means servo sends out data, and these data are received by PLC. The funcon codes of send PDO (COB-
ID) are as follow:
• 0x180+Staon No. of Servo
• 0x280+Staon No. of Servo
• 0x380+Staon No. of Servo
• 0x480+Staon No. of Servo
Receive PDO (RXPDO)
Receive PDO of servo means servo receive data, and these data are sent by PLC. The funcon codes of receive PDO (COB-
ID) are as follows:
1. 0x200+Staon No. of Servo
2. 0x300+Staon No. of Servo
3. 0x400+Staon No. of Servo
4. 0x500+Staon No. of Servo
As long as the controller and servo are dened according to this.
PDO transmission types
PDO support two transmission mode:
SYNC——Transmission is triggered by the synchronizaon message (Transmission type: 0-240)
In this transmission mode, controller must have the ability to send synchronous messages (The message is sent
periodically at a maximum frequency of 1KHz) , and servo will send aer receiving the synchronous message.
Acyclic: Pre-triggered by remote frame, or by specic event of objects specied by the equipment sub-protocol.
In this mode, servo will send out data as soon as receiving the data of synchronous message PDO.
Cyclic: Triggered aer sending 1 to 240 SYNC messages.
In this mode, servo will send out data in PDO aer receiving n SYNC messages.
ASYNC (Transmission type: 254/255)
Slave sends out message automacally as soon as the data change, and it can dene an interval me between two
messages which can avoid the one in high priority always sending message. (The smaller number of PDO, the higher its
priority)
Sending PDO (TPDO) supports synchronous and asynchronous transmission modes, and the corresponding transmission
type can be selected according to the transmission mode. For receiving PDO (RPDO), when the driver node is turned on in
non-interpolated mode, as long as the RPDO packet sent by the bus is detected, the object data will be received in real
me, which has nothing to do with the transmission type seng. In interpolaon mode, the driver receives data rst aer
detecng an RPDO signal, but only updates the object data at a specic point in me.