
|
|
|
|
|
|
|
| The Object Dictionary |
|
|
|
|
|
|
|
|
|
|
|
Transmission | The PDO transmission mode can be configured as described in the table below. |
| |||||||
mode |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Transfer code |
| Transmission mode |
|
|
| Notes |
| ||
|
|
|
|
|
|
|
|
|
|
Dec. | Hex. |
| Cyclic | Acyclic | Synchrono | Asynchron | RTR only |
|
|
|
|
|
|
| us | ous |
|
|
|
|
|
|
|
|
|
|
|
|
|
0 | 0 |
|
| x | x |
|
| Send PDO on first |
|
|
|
|
|
|
|
|
| SYNC message |
|
|
|
|
|
|
|
|
| following an event |
|
|
|
|
|
|
|
|
|
|
|
1 to 240 | 1 to F0 |
| x |
| x |
|
| Send PDO every x |
|
|
|
|
|
|
|
|
| SYNC messages |
|
|
|
|
|
|
|
|
|
|
|
241 to 251 | F1 to FB |
| Reserved |
|
|
|
| - |
|
|
|
|
|
|
|
|
|
|
|
252 | FC |
|
|
| x |
| x | Receive SYNC |
|
|
|
|
|
|
|
|
| message and send |
|
|
|
|
|
|
|
|
| PDO on Remote |
|
|
|
|
|
|
|
|
| Request |
|
|
|
|
|
|
|
|
|
|
|
253 | FD |
|
|
|
| x | x | Update data and send |
|
|
|
|
|
|
|
|
| PDO on Remote |
|
|
|
|
|
|
|
|
| Request |
|
|
|
|
|
|
|
|
|
|
|
254 to 255 | FE to FF |
|
|
|
| x |
| Send PDO on event |
|
|
|
|
|
|
|
|
| (Change of state |
|
|
|
|
|
|
|
|
| mode) |
|
|
|
|
|
|
|
|
|
|
|
Note: For transmission modes corresponding to transfer codes 254 and 255, the events that trigger a TPDOtransmission are:
modification of transported data status,
the Event Timer has elapsed.
| The structure of a | ||||
Structure |
|
|
|
|
|
Bit No. | Value | Meaning |
| ||
|
| ||||
|
|
|
|
|
|
| 31 | (MSb) | 0 | The PDO object exists |
|
|
|
|
|
|
|
|
|
| 1 | The PDO object does not exist |
|
|
|
|
|
|
|
| 30 |
| 0 | RTR mechanism authorized |
|
|
|
|
|
|
|
|
|
| 1 | RTR mechanism not authorized |
|
|
|
|
|
|
|
| 29 |
| 0 |
| |
|
|
|
|
|
|
| 28 | - 11 | 0 | if bit 29 = 0 |
|
|
|
|
|
|
|
| 10 | - 0 (LSb) | X | Bit 10 - 0 of the identifier |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1606218 02 08/2006 | 165 |