Parker Compax3 Fluid T40

Communication
C3F_T40
378 192-121102 N04 June 2008
6.5.3.1 Object types
The following table shows the preset COB-IDs:
Communicati
on object
type
Functi
on
code
COB -
Identifier
(dec)
COB -
Identifier
(hex)
Defined
in
Index...
Description
Broadcast objects
NMT 0000b 0 0h - Network management and identifier assignment
SYNC 0001b 128 80h 1005h CANSYNC
TIME 0010b 256 100h 1012h TIME is not implemented in Compax3.
Point to point objects
EMCY 0001b 129-255 81h-FFh 1014h Error messages
T-PDO1 0011b 385-511 181h-1FFh 1800h Assignment via Index 1A00h
T-PDO2 0101b 641-767 281h-2FFh 1801h Assignment via Index 1A01h
T-PDO3 0111b 897-1023 381h-3FFh 1802h Assignment via Index 1A02h
T-PDO4 1001b 1153-1279 481h-1279h 1803h Assignment via Index 1A03h
Transmit process data object
( Compax3) max. 8 Bytes
R-PDO1 0100b 513-639 201h-27Fh 1400h Assignment via Index 1600h
R-PDO2 0110b 769-895 301h-37Fh 1401h Assignment via Index 1601h
R-PDO3 1000b 1025-1151 401h-47Fh 1402h Assignment via Index 1602h
R-PDO4 1010b 1281-1407 501h-57Fh 1403h Assignment via Index 1603h
Receive process data objects
( Compax3) max. 8 Bytes
T-SDO1 1011b 1409-1535 581h-5FFh 1200h Transmit service data object 1
T-SDO2 -* -* - 1201h Transmit service data object 2
R-SDO1 1100b 1537-1663 601h-67Fh 1200h Receive service data object 1
R-SDO2 -* -* - 1201h Receive service data object 2
Node guard 1110b 1793-1919 701h-77Fh 100Eh Check bus subscribers.
* The SDO2 are not activated.
The standard value of the COB-ID for an object is calculated as follows: COB-ID =
(Function code * 128) + Device address
The standard values of the COB-Ids can be changed via communication objects
via SDOs.
Application of the communication object types
Transmission of real time data (faster transmission because higher priority)
T-PDO
Transmit process data object: Compax3 reply.
R-PDO
Receive process data object: send to Compax3.
Once only transmission, e. g. of parameters or programme lines
T-SDO
Transmit service data object: Compax3 reply.
R-SDO
Receive service data object: send to Compax3.
6.5.3.2 Communication objects
General note:
Every CAN object which is created as array (with subindex) contains the number of
entries in subindex 0.