FAULHABER Motion Control Systems LM-Motors ... - MicroMo

3 CANopen protocol description3.2 PDOs (process data objects)PDOs correspond to a CAN message frame with up to 8 bytes and are used to transmit process data,i.e. to control and monitor the device’s behaviour. The PDOs are designated from the point of viewof the field device. Receive PDOs (RxPDOs) are received by the field device and contain, e.g. controldata, send PDOs (TxPDOs) are sent by the field device and contain, e.g. monitoring data.PDOs can only be transmitted if the device is in “operational” state (see Chapter 3.6 “NMT (networkmanagement)”).PDO communication types:• Event controlled: Data are automatically sent following a change to the device.• Remote request (RTR): Data are sent following a request message frame.• Synchronised: Data are sent following receipt of a SYNC object.See Chapter 3.5 “SYNC Object” for information on setting the various types of transmission.FAULHABER Motion Controllers provide the following PDOs in their default configuration: the usercan adjust the identifier (COB ID) and data content (PDO mapping) of the PDO to their individualneeds. A maximum of 4 parameters can be mapped in a PDO.RxPDO1: Controlword11 bit identifier 2 bytes user data0x200 (512d) + Node ID LB HBContains the 16 bit controlword according to CiA DSP402, which controls the state machine of thedrive unit. The PDO refers to object index 0x6040 in the object dictionary. The bit allocation is describedin Chapter 4.1 “Device control”.TxPDO1: Statusword11 bit identifier 2 bytes user data0x180 (384d) + Node ID LB HBContains the 16 bit statusword according to CiA DSP402, which displays the state machine of thedrive unit. The PDO refers to object index 0x6041 in the object dictionary. The bit allocation is describedin Chapter 4.1 “Device control”.RxPDO2: Controlword, Target Position (pp)11 bit identifier 2 to 6 bytes user data0x300 (768d) + Node ID LB HB LLB LHB HLB HHBContains the 16-bit controlword and, in Profile Position Mode (pp), the 32-bit value of the targetposition (Object 0x607A).18