88/176 CANopen
Bosch Rexroth AG
, MIT: ID 40, 3 842 530 344/2014-05
The following diagram shows the relationships between the buffer objects.
Fig. 27:
Buffer Mode
Buffer Mapping
Useful data
via HF field
MDT
Useful data
Buffer Status
Synchronizatio
n
Application,
(CANopen
Master)
Transfer Buffer
Interdependencies between transfer buffer objects
9.5.1
Transfer buffer parameters (objects 2100–2103)
These parameters are available in the 210x objects, whereby x + 1 stands for the
number of each transfer buffer.
The modes the transfer buffers should use and whether or not each buffer is active
can be configured in the
buffer mode register
(subindex 01) for these objects. The
data type of the buffer mode register is UNSIGNED8.
The
buffer status register
(subindex 02) provides information on, e.g., whether data
transmission is in progress or has completed. This register can be included in TPDO
mapping in order to transmit the information by event. The data type of the buffer
status register is UNSIGNED8.
Table 27: Buffer mode register 210x/01
Bit
7
6
5
4
3
2
1
0
X
M
V
V:
Buffer valid
0 =
Transfer buffer locked, no SLK or MDT data exchange. In this state,
the buffer mapping can be edited.
1 =
Transfer buffer active. The buffer is working according to the
configured buffer mode. The buffer mapping cannot be edited.
M:
Buffer mode
0 =
Direct MDT data exchange
1 =
Prefetch, see Chapter 6.4.1.2 “Buffered prefetch”
2 =
Pretransmit: single transmit, see Chapter 6.4.2.1 “Single transmit”
3 =
Pretransmit: multiple transmit, see Chapter 6.4.2.2 “Multiple
transmit”
4–7 =
Not used, ignored.
X:
Reserved, set to 0
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
