02.2004 Communication / CBC CANopen Communication Board
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Compendium Motion Control 8.5-19
P712 (R_PDO parameter 2)
Parameter for R_PDO2
The settings for Receive_PDO2 can be made with this parameter.
PDO communication for PDO 2 is deactivated when the parameter is set to 0
(default setting).
Once the CB parameters have been input, the CBC checks the input against
the table. If it detects a parameterization error, it activates error F80 when the
system exits state 4 "Board configuration" or state 5 "Drive setting". The error
value for the parameterization error is then stored in r732.1 (see Subsection
8.5.8.3). Once you have acknowledged the error, the system returns to the
"Board configuration" state where you can correct the faulty parameter
assignment.
The parameter comprises 8 bits for PDO number and eight bits for
transmission type.
Transmission type PDO No.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
PDOs 1-72 can be set in this parameter according to the device selected in
parameter P719 from the list of Receive PDOs (Subsection 8.5.2.4). Not all
PDOs can be selected in every set device. Impermissible selections are
identified in the list.
The transmission type is specified in the following table:
Transmission
type
PDO transmission
cyclic Acyclic synchr. asynchr. RTR only
0 X X
1-240 X X
241-251 Reserved
252 X X
253 X
254 X
255 X
Receive PDO 28 must be received asynchronously.
The PDO number must be converted to a hexadecimal value and entered in
byte 0. The transmission type is entered as a hexadecimal value in byte 1.
The CB parameters acknowledge only decimal values. For this reason, the
word , consisting of a high part (transmission type) and a low part (PDO No.)
must be converted to a decimal number.
High byte (transmission type) Low byte (PDO number)
Decimal value 255 28
Hex value FF 1C
Param. value 65308 (FF1C hex)
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