Wieland samos PRO COMPACT - Page 152

CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
152
SDO 1027: Module list
The module list contains the module type and the module number (module ID) of all safe sa-
mosPRO modules in the system.
Table 102: Content of SDO 1027
Subindex
Module
Format
1-3
Controller module (SP-COPx)
SINT
4…15
Extension modules (SP-SDIO or SP-SDI)
SINT
SDO 1400 … 1403: Communication parameters for the RxPDOs
SDO 1400 to 1403 can be used to configure the communication parameters for RxPDOs 1 to 4,
e.g. SDO 1400 defines the parameters for RxPDO 1, etc.
Table 103: Content of SDO 1400 ... 1403
Subindex
Mapping
Format
Description
1 COB ID UDINT CAN identifier for this PDO,
write-protected
2
Receive mode
SINT
Fix 255 (asynchronous mode)
The receive mode (read/write) determines how the PDO is to be received. For RxPDOs, the re-
ceive mode has been set to 255 (asynchronous mode). In this mode, the data of a RxPDOs re-
ceived are directly routed to the outputs.
NOTICE
When the receive mode is set to a value other than 255, an error code is generated (abort
code 0609 0030h, invalid parameter value).
SDO 1600 … 1603: Mapping parameters for the RxPDOs
This SDO cannot be used, as mapping of the RxPDOs takes place with the aid of the samos-
PLAN5+.
Also see: Table
"Pre-set for the content of the transmit process data objects (TxPDOs)" [ch.
10.8, p. 145]
SDO 1800 … 1803: Communication parameters for the TxPDOs
SDO 1400 to 1403 can be used to configure the communication parameters for TxPDOs 1 to 4,
e.g. SDO 1800 defines the parameters for TxPDO 1, etc.
Table 104: Content of SDO 1800 ... 1803
Subindex
Mapping
Format
Description
1 COB ID UDINT CAN identifier for this PDO,
write-protected
2 Transmission type SINT Defines when the PDO is
to be sent
5
Event timer
UINT
in ms
The transmission type for all TxPDOs to 255 (asynchronous mode, event-driven) has been pre-
set.
The event timer contains the time in Ms for the cyclic transmission of the TxPDOs.