Pdo4 Tx - ABB NCAN-02 Installation And Startup Manual

Chapter 6 – Communication

PDO4 Tx

Asynchronous
transmission mode
Cyclic transmission mode
6-10
The PDO4 Tx object is transmitted by the drive as Data set 8 (or Data
set 17 if NCAN-02 parameter DATA SET OFFSET is set to
FB D SET 10). The contents of PDO4 Rx is as follows:.
Slave to Master
Header
1
Actual Value 9
1001xxxxxxxryyyy
(2016h)
0101 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
Actual values 6 to 8 are 16-bit words each containing a sign bit and a
15-bit integer. The values to be transmitted to the CAN bus master are
selected by drive parameters. See the drive documentation for more
information.
PDO4 Tx is automatically transmitted to the CAN bus master in the
time interval defined in index 2000 Sub-index 4 (default 100 ms).
Automatic transmission is stopped when the communication with the
master is lost.
PDO4 Tx is also transmitted every time PDO4 Rx is received.
PDO4 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO4 is started only after the
first receipt of Rx PDO4.
Byte
2 3 4
Actual Value 10 Actual Value 11
(2017h)
NCAN-02 Installation and Start-up Guide
5 6
(2018h)