IL•1F CANopen DS301 | 8 Object directory |
0198441113586, V2.01, 11.2008
If an R_PDO is transmitted synchronously (transmission type=0..252), the product evaluates the received data depending on the SYNC object.
•In the case of acyclic transmission (transmission type=0), the evalu- ation depends on the SYNC object, but not the transmission of the PDO. A received PDO message is evaluated with the following SYNC.
A value between 1 and 240 specifies the number of SYNC cycles after which a received PDO is evaluated.
The values 252 to 254 are relevant for updating T_PDOs, but not for sending them.
•252: Updating of transmit data with receipt of the next SYNC
•253: Updating of transmit data with receipt of a request from a PDO consumer
•254: Updating of data in an
R_PDOs with the value 255 are updated immediately upon receipt of the PDOs. The triggering event is the data that is transmitted corresponding to the definition of the device profile in the PDO.
Subindex 03h The "Inhibit time" interval is only relevant for T_PDOs.
A T_PDO is retransmitted after expiration of the "Inhibit time" interval at the earliest. The value is specified as a multiple of 100 μs, however, it is rounded down to milliseconds as an integer value.
Subindex 04h The value is reserved and not used. Write or read access triggers an SDO error message.
Subindex 05h The time interval "event timer" is only relevant for T_PDOs. A T_PDO is transmitted after expiry of the time interval "event timer". At the same time, the time interval is restarted. The "transmission type" must be set to one of the values 254 or 255 via subindex 02h.
Settings R_PDO4 is processed asynchronously and in an
The byte assignment of R_PDO4 is specified via PDO mapping with the object Receive PDO4 mapping (1603h) and cannot be modified. The assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master
The COB ID of the object can be changed in the NMT state
1603h Receive PDO4 mapping
The object specifies the objects mapped in R_PDO4 and transmitted with the PDO. When the object is read, subindex 00h, the number of mapped objects is read.
Object description
Index | 1603h |
Object name | receive PDO4 mapping |
Object code | RECORD |
Data type | PDO Mapping |
|
|
Fieldbus interface | 87 |
