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49
Trigger
Description
tr4
Trigger for ID tag data 4 (0x230A/0x4)
tr3
Trigger for ID tag data 3 (0x230A/0x3)
tr2
Trigger for ID tag data 2 (0x230A/0x2)
tr1
Trigger for ID tag data 1 (0x230A/0x1)
The writing process is always made with the bit change of the respective bit (0->1
or 1->0). Ideally, the object "Write trigger" (OD index 0x230F, sub-index 0x00) is
assigned to an RDPO. On delivery, the object "Write trigger" is assigned to the
first RPDO.
Automatic writing of data can be activated with the object "Auto write" (OD index
0x2302). As soon as an ID tag is in the detection range, the last data is written to
the ID tag.
Only data up to the configured data length is written to the ID tag.
Subsequent data is ignored. For the writing of more than 8 bytes (4 bytes
for 32-bit data objects), more RPDOs have to be assigned and the
respective data objects have to be configured.
For 32-bit controllers, the object 0x230B must be used instead of object
0x230A. The maximum data length is restricted to 32-bit data (4 bytes).
The trigger is divided between the objects 0x231E and 0x231F. The object
0x231E contains the triggers for ID data 33 to 64. The object 0x231F
contains the triggers for ID data 1 to 32.
9.2.3.1 Example 1
The data range 0x10 to 0x18 (8 bytes) is to be transferred with the 2nd RPDO.
RPDO
Settings
for PDO
mapping:
COB
Object
directory:
Object
index
Object
directory:
Object
sub-
index
Object
directory:
Object
length
2
Node ID +
0x0200
0x230A
0x01
0x40