Communication via CAN bus
AG06
Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 42 of 114
The COB-ID of the third Transmit PDO is programmed to 400
h
+ Node-ID by default. The
communication parameters are set via the object 1402
h
(3
rd
Receive PDO parameter).
Control word (object
6040
h
)
Target value (object 607A
h
)
Table 21: 3
rd
Receive PDO
9.3.6.3 4
th
Receive PDO (RPDO4)
The fourth Receive PDO is assigned to the operation mode 'Velocity Mode' and contains 6 user
data bytes on which the control word as well as the current target velocity for the actuator
are mapped.
A driving movement in positive or negative sense of rotation is started via the control word in
the Receive PDO4. Drive movement in the velocity mode can be executed from the 'OPERATION
ENABLED' state of the state machine only.
The drive controller processes the Receive PDO4 asynchronously as a standard. Together with
the Transmit PDO1 onto 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 RPDO4 is processed only after receipt of the next SYNC telegram in this
case (see chapter 9.3.3: SYNC-Objekt).
The COB-ID of the fourth Transmit PDO is programmed to 500
h
+ Node-ID by default. The
communication parameters are set via the object 1403
h
(4
th
Receive PDO parameter).
Control word (object
6040
h
)
Target velocity (object 60FF
h
)
Table 22: 4
th
Receive PDO
9.3.6.4 Transfer types of the Receive PDOs
Different transfer types can be set for the individual PDOs via objects 1400
h
until 1403
h
'Receive PDO Parameter' sub-index 2 (see chapter 9.13.2: Description of objects).
Synchronous:
Sub-index 2 (transfer type) = 0 ... 240
In the synchronous transfer type, the Receive PDOs are processed only after receipt of a SYNC
telegram.
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