Communication / CBC CANopen Communication Board
02.2004
6SE7087-6QX70 (Version AD) Siemens AG
8.5-22
Compendium Motion Control SIMOVERT MASTERDRIVES
P716 (T_PDO parameter 2)
Parameter for T_PDO2
The settings for Transmit_PDO2 can be made with this parameter.
When the parameter is set to 0 (default setting), PDO communication is
deactivated for PDO2.
Once the CB parameters have been input, the CBC checks the input against
the table. If it detects a parameterization error, it activates error F80 when the
system exits state 4 "Board configuration" or state 5 "Drive setting". The error
value for the parameterization error is then stored in r732.1 (see Subsection
8.5.8.3). Once you have acknowledged the error, the system returns to the
"Board configuration" state where you can correct the faulty parameter
assignment.
The parameter comprises 8 bits for PDO number and eight bits for
transmission type.
Transmission type
PDO No.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
PDOs 1-62 can be set in this parameter according to the device selected in
parameter P719 from the list of Transmit PDOs (Subsection 8.5.2.4). Not all
PDOs can be selected in every set device. Impermissible selections are
identified in the list.
The transmission type is specified in the following table:
Transmission
type
PDO transmission
cyclic Acyclic synchr.
asynchr.
RTR
only
0
X X
1-240
X
X
241-251
Reserved
252
X
X
253
X
254
X
255
X
Example:
Receive PDO 128 must be received asynchronously.
The PDO number must be converted to a hexadecimal value and entered in
byte 0. The transmission type is entered as a hexadecimal value in byte 1 in
P715.
The CB parameters acknowledge only decimal values. For this reason, the
word , consisting of a high part (transmission type) and a low part (PDO No.)
must be converted to a decimal number.
High byte (transmission type) Low byte (PDO number)
Decimal value
255
28
Hex value
FF
1C
Param. Value
65308 (FF1C hex)
