The Object Dictionary
Transmission | The PDO transmission mode can be configured as described in the table below. | ||||||
Mode |
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Transfer code | Transmission mode |
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Dec. | Hex. | Cyclic | Acyclic | Synchron | Asynchro | RTR only |
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| ous | nous |
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0 | 0 |
| x | x |
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| Send PDO on first SYNC |
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| message following an |
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| event |
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1 to 240 | 1 to F0 | x |
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| Send PDO every x SYNC |
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| messages |
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241 to 251 | F1 to FB | Reserved |
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| - |
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252 | FC |
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| x | Receive SYNC message |
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| and send PDO on |
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| Remote Request |
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253 | FD |
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| x | x | Update data and send |
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| PDO on Remote Request |
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254 to 255 | FE to FF |
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| Send PDO on event |
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| (Change of state mode) |
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Note: For transmission modes corresponding to transfer codes 254 and 255, the events that trigger a TPDO transmission are:
modification of transported data status,
the Event Timer has elapsed.
| The structure of a | ||||
Structure |
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Bit No. | Value | Meaning |
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| 31 | (MSb) | 0 | The PDO object exists |
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| 1 | The PDO object does not exist |
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| 30 |
| 0 | RTR mechanism authorized |
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| 1 | RTR mechanism not authorized |
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| 29 |
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| 28 | - 11 | 0 | if bit 29 = 0 |
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| 10 | - 0 (LSb) | X | Bit 10 - 0 of the identifier |
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162 | 1606218 02 08/2006 |
