Lenze 931K - Manual (Page 40)

CANopen over EtherCAT (CoE)
Adaptation of the device description file
Transmit PDO configuration in the TxPDO node
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40 KHB 13.0005−EN 1.0
8.8.3 Transmit PDO configuration in the TxPDO node
The TxPDO node serves to define the mapping for the transmit PDOs and their assignment
to a channel of the sync manager. The configuration corresponds to that of the receive
PDOs with the difference that the "Name" node of the PDO has to be set from "Outputs"
to "Inputs".
8.8.4 Initialisation commands via the Mailbox node
The "Mailbox" node in the device description file serves to the writing to CANopen objects
by the master in the slave during the initialisation phase. The commands and objects that
are to be written there are specified by means of specific entries. Within these entries the
phase transition at which this value is to be written is defined. Furthermore such an entry
contains the CANopen object number (index and subindex) and the data value which is to
be written, and a comment.
A typical entry has the following form:
<InitCmd>
<Transition>PS</Transition>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<Data>03</Data>
<Comment>velocity mode</Comment>
<InitCmd>
In the above example the operating mode in the CANopen object "modes_of_operation"
is set to "Speed control" in the state transition "PS" from Pre−operational to Operational.
The individual subnodes have the following meaning:
Subnodes of the InitCmd node
Node designation Meaning Adaptable
Transition Name of the state transition at the occurrence of which this command
is to be executed. Yes
Index Index of the CANopen object to be written. Yes
Subindex Subindex of the CANopen object to be written. Yes
Data Data value which is to be written as a hexadecimal value. Yes
Comment Comment to this command Yes
)
Note!
The device description file for the 931K servo position controller already
defines some entries in this section. These entries must be maintained and
must not be changed by the user.