Question:
What is the easiest way to establish a data transmission between the I/O system and a drive controller?
Answer:
The easiest way of data transmission between the I/O system and a drive controller is via the process data channel CAN3.
- The base identifiers of PDO1-Rx and PDO1-Tx of the I/O system are preassigned in a way that they can exchange data with the drive controller's process data objects CAN-IN3 / CAN-OUT3.
- The base identifiers of PDO2-Rx and PDO2-Tx are preassigned in a way that they can exchange data with the drive controller's process data objects CAN-IN2 / CAN-OUT2.
This direct data exchange is possible, when the node address of the I/O system is by 1 higher than the node address of the drive controller. In addition the drive controller is to be defined as CAN master (C0352/0 = 1 / Master BootUp), and the Boot Up time in the drive controller is to be increased to 10 s (C0356/1 = 10000 ms). The increase of the Boot Up time of 3 s default setting is required, as the I/O system requires a longer time for initialization, and the NMT telegram of the master may not be sent before.
Example:
- Drive controller with node address 1 (C0350 = 1)
CAN_OUT3: 768 (Base identifier) + 1 (Node address) = 769 (Transmit identifier)
CAN_IN3: 769 (Base identifier) + 1 (Node address) = 770 (Receive identifier)
- CAN Gateway of the modular system (or a module of the compact system) with the node address 2
PDO1-Rx: 767 (Base identifier) + 2 (Node address) = 769 (Receive identifier)
PDO1-Tx: 768 (Base identifier) + 2 (Node address) = 770 (Transmit identifier)
