Software Configuration with the GSDML Composer
5.9.3 TPDO Mapping
The structure of the page
TPDO Mapping
corresponds to the structure of the page
but with the difference that TPDOs are configured and, if applicable, additional communication
parameters are available.
The TPDO Mapping window consists of the
object selection
(top left), the
PDO selection
(top right),
the buttons to change the mapping parameters (top centre) and the
Communication Parameter
.
Communication Parameter:
COB-ID
See chapter 5.9.2
Transmission Type
Specifies the transmission type/rate:
- 0x00: Acyclic with SYNC
- 0x01: Cyclic with every SYNC
- 0x02 .. 0xF0: Cyclic with every SYNC as specified here (2nd up to 240th.)
- 0xFC: On RTR (sampling of the values to SYNC)
- 0xFD: On RTR (sampling of the values at RTR)
- 0xFE: Event based/manufacturer-specific
- 0xFF: Event based/profile-specific
SYNC:
Transmission will be triggered at reception of a SYNC message
(and within the SYNC-time window)
Event based: The transmission is independent of the SYNC
Inhibit Time
Minimum period between two transmissions
(As multiple of 100 µs. Only if
Transmission Type
is 0xFE/0xFF)
Event Timer
For a value which does not equal zero, this value specifies the cycle time of
the transmission in ms (Only if
Transmission Type
is 0xFE/0xFF).
SYNC Start
The SYNC message with this counter value will be evaluated as first received
SYNC message
(0: The counter value will be ignored. Only if
Transmission Type
is ≤ 0xF0)
Changing the mapping parameters via the buttons can be carried out as described for the RPDO
Mapping, see page 36.
INFORMATION
The number of PDO pairs (TPDO, RPDO, T/RPDO) is limited to 15 per connected
CANopen participant.
The current Composer (version 1.0.0) observes this limit and does not allow the
generation of a GSDML file.
CANopen-PN
Manual • Doc. No.: C.2921.21 / Rev. 1.6
Page 37 of 105
