Siko AG06 - Receive-Pdos; Rd Receive PDO (RPDO3); St Receive PDO (RPDO1)

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 41 of 114
The sub-index 5 'Event Timer' of the Transmit PDO parameters indicates the cycle time in
milliseconds.
Sub-index 2 (transfer type) = 253
The Transmit PDO is sent after receipt of a RTR frame with the identifier of the respective
Transmit PDO.
9.3.6 Receive-PDOs
9.3.6.1 1
st
Receive PDO (RPDO1)
The first Receive PDO contains 2 user data bytes on which the status word of the actuator is
mapped.
The control word in the Receive PDO1 serves for controlling the operation transitions of the
state machine. The Receive PDO1 serves for getting the state machine into the OPERATION
ENABLED state or for commanding travel interruption or cancellation of travel during running
drive movement, respectively.
The drive controller processes the Receive PDO1 asynchronously as a standard. Together with
the Transmit PDO1 on which the control word of the state machine is mapped it forms a
handshake connection (acknowledgement operation) between the higher-order control and
the drive controller.
It is, therefore not recommended to change the transfer type of the RPDO1.
The COB-ID of the first Receive PDO is programmed to 200
h
+ Node-ID by default. The
communication parameters are set via the object 1400
h
(1
st
Receive PDO parameter).
1
st
Receive PDO
11/29 Bit Identifier
Byte 1
Byte 2
LSB
MSB
Control word (object 6040
h
)
Table 20: 1
st
Receive PDO
9.3.6.2 3
rd
Receive PDO (RPDO3)
The third Receive PDO is assigned to the operation mode 'Profile Position Mode' (positioning
mode) and contains 6 user data bytes on which the control word as well as the current target
value for the actuator is mapped.
The position transferred is taken over as the absolute target position. Drive movement in the
positioning mode can be executed from the 'OPERATION ENABLED' state of the state machine
only.
The drive controller processes the Receive PDO3 asynchronously as a standard. Together with
the Transmit PDO1 on which the status word of the state machine is mapped, it forms a
handshake connection (acknowledgement operation) between the higher-order control and
the drive controller.
Synchronous transfer type (value 0) can be set to enable synchronous start of more than one
drive. The data of the RPDO3 is processed only after receipt of the next SYNC telegram in this
case (see chapter 9.3.3: SYNC-Objekt).