Pdo Configuration; Pdo Parameters - Balluff BDG F NH Serie Konfigurationsanleitung

8.5

PDO Configuration

8.5.1

PDO parameters

Four PDOs can be parameterised. The configuration of the PDO payload is called "PDO mapping". The default
configuration is:
Object PDO Default configuration (scheduling)
1800h PDO1 asynchronous / on change of position value
1801h PDO2 synchronous / on every SYNC
1802h PDO3 synchronous / on every SYNC
1803h PDO4 disabled
There are five different types of transmission for every PDO:
Sub-Index 2 Sub-Index 5
01h-F0h n.n.
FFh 0000h
FEh 0001h-FFFFh
FEh 0000h
FFh 0001h-FFFFh
•
To completely disable a PDO, you have to change the MSB of the PDO-COBID object:
PDO Object
1 1800h
2 1801h
3 1802h
4 1803h
For example PDO1 shall be disabled by this SDO write command:
600h+ID 8 23h
CAN-ID DLC Command
•
•
www.balluff.com
Table 8.45: Default PDO configuration
Table 8.46: Selectable PDO transmission types
Parameters can be changed in Pre-Operational only and have to be saved into
EEPROM!
COB-ID object PDO enabled
Table 8.47: PDO-Deactivation
00h 18h
Object L Object H
Table 8.48: Example - PDO1 deactivation
Advanced parameterisation of the PDO COB-ID (objects 1800h-01h, objects
1801h-01h, objects 1802h-01h, objects 1803h-01h) is possible. As long as no
"save communication objects" or "save all parameters" has been performed, a
change of the node ID will automatically effect the COB IDs.
After a save command, the PDO COB-IDs have to be changed manually or
perform a "restore all parameters".
"Mapped" process data
Position-value
Position-value
High Precision-value
Description
PDO synchronous / on a SYNC
PDO disabled
PDO asynchronous / triggered by event timer
AND change in position value
PDO asynchronous / triggered by change of
position value
PDO asynchronous / triggered by event timer
COB-ID object PDO disabled
4000 0181h
4000 0281h
4000 0381h
4000 0481h
01h 81h 01h
Sub- Byte0 Byte1
Index
C000 0181h
C000 0281h
C000 0381h
C000 0481h
00h C0h
Byte2 Byte3
51