Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Type PDO transmission, Rtr, PDO1

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

receive PDOs are called PDO consumers.

—The PDO is described by means of the “producer/consumer mode”. The data is transmitted from one producer to one or many consumers. The data which can be transmitted are limited to 1-byte data to 8-byte data. After the data is transmitted by the producer, the consumer does not need to reply to the data. Every node in the network will detect the data information transmitted by the transmission node, and decides whether to process the data which is received.

—Every PDO is described by two objects in the object dictionary: The PDO communication parameters and the PDO mapping parameters

The PDO communication parameters: The COB-ID which will be used by PDO, the

transmission type, the prohibition time, and the cycle of the counter

The PDO mapping parameters: They include the object list in an object dictionary. These objects are mapped into the PDO, including the data length (in bits). To explain the contents of the PDO, the producer and the consumer have to understand the mapping.

—The PDO transmission mode: synchronous and asynchronous

Synchronous: Synchronous periodic and synchronous non-periodic

Asynchronous: The PDO is transmitted when the data changes, or it is transmitted after a trigger.

The transmission modes supported by are as follows.

Type		PDO transmission
	Periodic	Non-periodic	Synchronous	Asynchronous	RTR
0		X	X
1 – 240	X		X	X
254
255				X

Mode 0: The PDO information is transmitted only when the PDO data changes and the synchronous signal comes.

Modes 1~240: One piece of PDO information is transmitted every 1~240 synchronous signals.

Mode 254: The trigger is defined the manufacturer. The definition of the PLC is the same as mode 255.

Mode 255: PDO is transmitted when the data changes, or it is transmitted after a trigger. All the data in the PDO has to be mapped from the object dictionary. The following is an example of the PDO mapping.

Object dictionary

xxxxh	xxh	Application object A
yyyyh	yyh	Application object B

PDO_1 mapping

0		3
1	yyyyh	yyh	8
2	zzzzh	zzh	16
3	xxxxh	xxh	8

zzzzh

zzh

Application object C

PDO_1

Application object B

Application object C

Application object A

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