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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 33
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.
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.
Figure 3.17 Setting the object CAN.pdo4msk2 to zero
NameIdx:Sub
dec. (hex.)
MeaningBit assignment Data type UnitDe-
fault (dez.)
R/W/
rem. Info
30:9 (1E:09h) The default value 4294967295 corresponds to 0xFFFFFFFF. UINT32 -
429496729
5
R/W/-
30:10
(1E:0Ah)
See object pdo4msk1 for a description. UINT32 -0 R/W/-
actual Position
reserved
modeStat
driveStat
21 43 65 87
FFhFFh FFhFFh
00h00h 00h00h
ByteT_PDO4
pdo4msk1
pdo4msk2