IL•1F CANopen DS301 | 3 Basics |
Remotely requested Transmission of an asynchronous PDO is triggered when an external re- quest is received. Such a "Remote Request" is represented by a special bit in the CAN transmission frame; it has the same COB ID (communi- cation object identifier) as the requested communication object.
An overview of the individual transmission types can be found in the ob- ject dictionary, PDO parameters.
Bit mask for T_PDO4 A bit mask can be defined for the objects CAN.pdo4msk1 (30:9) and CAN.pdo4msk2 (30:10) in T_PDO4. All bit positions containing a "zero" are then no longer considered in the checks for changes (=event). This allows you, for example, to limit checks to changes of the driveStat in- formation.
NameIdx:Sub | MeaningBit assignment | Data type | UnitDe- | R/W/ |
dec. (hex.) |
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| fault (dez.) | rem. Info |
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30:9 (1E:09h) The default value 4294967295 corresponds to 0xFFFFFFFF. | UINT32 | - | R/W/- | |
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| 429496729 |
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| 5 |
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30:10 | See object pdo4msk1 for a description. | UINT32 | R/W/- | |
(1E:0Ah) |
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Table 3.7 Parameters for the CAN bus
Example In this example, setting the object CAN.pdo4msk2 to zero keeps modi- fications to the current position from triggering an event.
pdo4msk2
pdo4msk1
T_PDO4 Byte
00h 00h 
00h 00h
FFh FFh FFh FFh
1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
actual Position
reserved modeStat
driveStat
Figure 3.17 Setting the object CAN.pdo4msk2 to zero
0198441113586, V2.01, 11.2008
Fieldbus interface | 33 |
