50
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
Various transmission modes can be selected for each
TX-PDO
:
• Synchronous (value 0 - 240):
When the next SYNC pulse is received (it does not matter whether the value is 0 or
240), the data of the RX-PDO is transferred to the PO data buffer of MOVIDRIVE
®
B. This transmission process can be used to first send several PDOs from the master
to the MOVIDRIVE
®
B and then transfer them consistently to the PO data buffer of
MOVIDRIVE
®
B at the same time with a SYNC pulse.
• Manufacturer-specific (value 254):
The corresponding TX-PDO is sent when an RX-PDO is received.
Example: TX-PDO2 also has the transmission mode 254. A TX-PDO2 is sent directly
after a valid RX-PDO2 has been received (valid means that the length is not too long
or too short).
• Event-controlled and asynchronous (value 255):
When an RX-PDO is received, its data is immediately transferred to the PO data
buffer.
Default setting for all PDOs: Cyclic and synchronous (transmission mode = 1).
Inhibit time
This inhibit time is a lock-out time for TX-PDOs. The inhibit time for a TX-PDO begins
once this object has been sent. This object cannot be sent to the CANopen bus again
until the inhibit time has elapsed. The inhibit time is given in multiples of 100
μ
s; that is,
15670 corresponds to 1.567 seconds. The maximum inhibit time is 6.5535 s.
MOVIDRIVE
®
B processes inhibit times with a resolution of 1.0 ms, i.e. the value 15
(corresponding to an inhibit time of 1.5 ms) is treated as 2 ms. The valid value range is
"0" and "10 - 65535".
TIPS
Observe the following notes:
• The transmission modes for the TX-PDOs 1 - 3 can be changed using object
1800
hex
to 1802
hex
, subindex 2. They are all 8-bit values.
• The transmission modes for the RX-PDOs 1 - 3 can be changed using object
1400
hex
to 1402
hex
, subindex 2. They are all 8-bit values.
• Transmission modes 241 - 253 are reserved and cannot be selected.
• The transmission mode can only be changed when the unit is in the pre-operational
state.
• For information on the SYNC pulse, refer to chapter "SYNC object".
TIPS
• The inhibit time may only be changed in "pre-operational" unit state. The default
value for the inhibit time of all PDOs is 0 (disabled).
• The inhibit time for the TX-PDOs 1 - 3 can be changed using object 1800
hex
to
1802
hex
, subindex 3.
Summary of Contents for MOVIDRIVE MDX60B
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