Festo Контроллеры двигателя SFC-LAC - Manual (Page 133)

5. Commissioning
5−31
Festo GDCP−SFC−LACI−CO−EN en 0812NH
5.4.3 Communication
Pre−operational When the slaves are switched on, they assume the status
pre−operational" and wait for the master. This status serves
exclusively for parameterising via SDOs.
Operational After parameterising has been carried out, the CANopen
master can switch slaves into the operational status with a
special network management telegram (NMT).
In this status, communication via SDOs and PDOs is possible.
With the aid of the NMT telegrams you can switch between
the states.
The PDOs of the SFC−LACI are assigned as follows:
Object Communication parameter
1400h RPDO 1 Ĉ transmission type = 255 1)
1401h RPDO 2
1800h TPDO 1 Ĉ transmission type = 255 1)
Inhibit time = 0
1801h TPDO 2
Ĉ Inhibit time = 0
Ĉ event timer = disabled
1) asynchronous transmission (event triggered)
This parameterisation corresponds to the asynchronous
(event triggered) transmission which is standard with most
masters. Conversion to e.g.Ăsynchronous transmission is
possible if the communication parameters are written with
the appropriate values from the DS 301 communication proĆ
file, but modifying the mapping is not possible.