Chapter 6 – Communication
NCAN-02 Installation and Start-up Guide 6-7
Cyclic transmission mode PDO1 Tx is transmitted to the CAN bus master every time a SYNC
message is received.
Note: The automatic transmission of Tx PDO1 is started only after the
first receipt of Rx PDO1.
PDO2 Rx The PDO2 Rx object is received by the drive as Data set 3 (or Data set
12 if NCAN-02 parameter DATA SET OFFSET is set to FB D SET 10).
The contents of PDO2 Rx are as follows:
References 3 to 5 are 16-bit words each containing a sign bit and a
15-bit integer. The way in which these values are used by the drive
depends on its parameter settings. See the drive documentation for
more information.
Master to Slave
Header
Byte
123456
0110xxxxxxxryyyy
Reference 3
(2007h)
Reference 4
(2008h)
Reference 5
(2009h)
0110 = COB ID Function code
xxxxxxx = Node ID
r = RTR bit
yyyy = Data length
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