Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Transmission Type Description Remark, Synch, Asynch

7 CANopen Function and Operation

PDO transmission type can be synchronous transmission and asynchronous transmission. In synchronous transmission, master will send out the SYNC message in the fixed cycle. The length of the cycle is set in master properties dialog box with the default value: 50ms. In asynchronous transmission, the message is sent out once the PDO mapping parameter is changed.

PDO Transmission types in details are introduced in the following table.

	Transmission Type			Description	Remark
				Once any change for the mapped data
				happens, RxPDO data are sent out
		RxPDO		immediately. The data that slave receives
				are valid only when receiving the next
				SYNCH message. If no change for RxPDO	SYNCH
				data, they are not sent out.
0					SYNCH
					non-cycle
			Once any change for the mapped data
			happens and slave receives the SYNC
		TxPDO	message, the data are sent out immediately.
			The TxPDO data are valid immediately after
			master receives them. If no change for
			TxPDO data, the data are not sent out.
				After N messages are sent out and no
		RxPDO		matter whether the mapped data are
				changed, the data that slave receives will be
				valid only when receiving the next SYNCH	SYNCH
	N			message.
	（N:1~240）				cycle
			After N messages are sent out and no
		TxPDO	matter whether the mapped data are
			changed, the data that master receives will
			be valid at once.
				The mapped data are sent out immediately
		RxPDO		once changed and they are valid once they
				are received by slave. RxPDO data will not
				be sent out if no change for the data.
254			Slave sends out the data once every one		ASYNCH
			Event timer time and after that, the TxPDO
			data are not allowed to be sent out within an
		TxPDO	inhibit timer time.
			When Event timer and Inhibit timer are both
			equal to 0, TxPDO data are sent to master
			immediately once changed and the data
			that master receives will be valid at once.
255				Same as Type254

Note:

1> Synchronous transmission type can fulfill multi-axis motion at the same time.

2> If user is going to monitor the real-time changing parameter such as the actual rotation speed of the motor, we suggest TxPDO should be set as the synchronous transmission type in case the frequent changing of slave data causes to block the CANopen network.

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