Parker EME
Communication
192-121102 N04 June 2008 369
6.5.1.4 Possible PDO assignment
Via the process data objects (PDOs) actual values and Setpoint values are
continually exchanged between Compax3 and the CANopen client.
4 cyclic PDOs are possible, they are configured with the help of the Compax3
ServoManager:
The PDOs are set separately for the transmission directions
CANopen - Client ⇒ Compax3 (RPDO) (max. 16 words)
Compax3 ⇒ CANopen - Client (TPDO) (max. 16 words)
The objects that can be put on the process data channel can be found in the "
Compax3 Objects (see page 414)"!
6.5.1.5 Transmission cycle time
For the TPDOs a transmission cycle time can be set in each case.
This time specifies the time intervals at which Compax3 applies the cyclic data new
to the respective PDO.
The minimum value is thereby 1ms.
6.5.2. Supporting IEC modules
In this chapter you can read about:
C3_CANopen_State.........................................................................................................370
C3_CANopen_GuardingState ..........................................................................................371
C3_CANopen_AddNode ..................................................................................................372
C3_CANopen_ConfigNode ..............................................................................................373
C3_CANopen_NMT..........................................................................................................374
Reading an object in another node (C3_CANopen_SDO_Read4) ..................................375
Writing an object in another node (C3_CANopen_SDO_Write4).....................................376
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