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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 8 Object directory
Fieldbus interface 87
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 event-controlled way, the triggering
event is specified in a manufacturer-specific way
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 event-controlled way.
The byte assignment of R_PDO4 is specified via PDO mapping with the
object Receive PDO4 mapping (1603
h
) and cannot be modified. The
assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master ->
slave)".
The COB ID of the object can be changed in the NMT state "Pre-Oper-
ational".
1603h Receive PDO4 mapping
The object specifies the objects mapped in R_PDO4 and transmitted
with the PDO. When the object is read, subindex 00
h
, the number of
mapped objects is read.
Object description
Index 1603h
Object name receive PDO4 mapping
Object code RECORD
Data type PDO Mapping