Danaher Motion 07/06 Overview
M-S2-021-11 Initial Release 13
SDO 6089
H
: Position Notation Index (DS402)
SDO 608A
H
: position dimension index (DS402)
SDO 608F
H
: Position encoder resolution (DS402)
SDO 6091
H
: Gear ratio (DS402)
SDO 6092
H
: Feed constant (DS402)
SDO 6093
H
: Position factor (DS402)
SDOs for Velocity Calculations
SDO 608B
H
: velocity notation index (DS402)
SDO 608C
H
: velocity dimension index (DS402)
SDOs for Acceleration Calculations
SDO 608D
H
: acceleration notation index (DS402
SDO 608Eh: acceleration dimension index (DS402)
SDO 6097h: Acceleration factor (DS402)
2.4.6. P
ROCESS
D
ATA
O
BJECT
(PDO)
PDOs are used for real-time data communication. PDOs can, for instance, be used to set up controllers
similar to analog drives. Instead of ±10VDC setpoints and ROD feedback, digital speed setpoints and
position feedback are attained via PDOs in this case.
Transmission is carried out unconfirmed without a protocol “overhead”. This communication object uses
the unconfirmed communication service.
PDOs are defined via the Object Dictionary for the S200. Mapping is made during the configuration phase,
with the help of SDOs. Length is defined with the mapped objects.
The definition of the PDO service and protocol can be found in DS301. Examples of the usage of PDOs can
be found in the application note, CANOpen for the S200: Setup and Application Examples.
Basically, two types of PDOs can be distinguished, depending on the direction of transmission:
Transmit-PDOs (TPDOs) (S200 Master)
The TPDOs transmit data from the S200 to control system
(e.g., actual value objects, instrument status).
Receive-PDOs (RPDOs) (Master S200)
The RPDOs receive data from control system to the S200.
(e.g., setpoints).
The S200 supports four independent PDO channels for each direction of transmission. The channels are
labeled by the channel numbers 1 to 4.
