RD4 CANopen®
Structure of
TRANSMIT PDO1
messages sent by the Slave device (received by
the Master):
IDENTIFIER
8 CAN data byte
COB-ID (hex)
0
1
2
3
4
5
6
7
F.C. Node-ID
180+ Node ID
Low
High
Low
High
Low
…
…
High
Structure of bytes:
bit
7
6
5
4
3
2
1
0
M.S.bit
L.S.bit
7.6.1 “RECEIVE PDO1” message sent by the Master to the Slave
Control Word
Index 0x3100-00. 32 bits. It contains the commands to be sent in real time to
the Slave in order to manage it. See also
Byte 0
Jog +
bit 0
moves toward positive direction; otherwise if bit 4
= 1, the activation of this bit causes at
rising edge the execution of a single step toward positive
direction having the length, expressed in pulses, set next to
the
and waits for another issue. Velocity, acceleration and
deceleration are set in objects
For a detailed description of jog control see on page 26.
Jog -
bit 1
moves toward negative direction; otherwise if bit 4
= 1, the activation of this bit causes at
rising edge the execution of a single step toward negative
direction having the length, expressed in pulses, set next to
the
and waits for another issue. Velocity, acceleration and
MAN RD4 CB E 1.5
CANopen® interface
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