Download PMCprimo C Programming Manual

3
Command description
3.18
Commands for CANopen network
PDt, x
Position from drive
(position from drive)
Permitted values for t:
Permitted values for x:
0 to 150 (1-50 CANopen, 51-150 SafetyNet)
0 to number of encoder inputs
This command defines the connection between a servo amplifier and an axis channel.
The address range of 1 to 50 is reserved for CANopen.
The address range of 51 to 150 is reserved for SafetyNet.
The value 0 cancels the definition and disconnects the connection via CAN.
The “FS” command must be set so that position values are transferred via CANopen /
SafetyNet (FS19 – FS27).
The cycle time and baud rate for the CAN bus can be set via the “CD” command. Many
different servo amplifiers can be networked with the PMCprimo via CAN, depending on the
setting.
Cycle time in ms
Max. no.
servo amplifiers
500 Kbit per
CANopen
Max. no.
servo amplifiers
1 Mbit per
CANopen
1
2
4
2
4
8
4
8
16
8
16
32
With 2 CAN networks, therefore, it is possible to network up to a maximum of 49 servo
amplifiers.
CNnn [,X1,X2]
CAN trace
(CAN Trace)
Permitted values for n: 0 to 3
Permitted values for X1: 0 to 4
Permitted values for X2: 0 to 127
Factory setting: 0
This command can be used to record a CAN trace.
Pilz GmbH & Co. KG, Felix-Wankel-Str. 2, 73760 Ostfildern, Germany
Telephone +49 711 3409-0, Telefax +49 711 3409-133, E-Mail: [email protected]
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