IFM ecomat 100 R 360 Series, System Manual

Page: 54 / 166

page 54
Function
PDO_TX_CONFIG
Library COB.LIB
Function symbol
Purpose Initializes a transmit PDO in the R 360 CANopen slave.
Parameters Function inputs
Function outputs, none
Description PDO_TX_CONFIG initializes a transmit PDO for the CANopen
slave. This function must be executed once during the
initialization with ENABLE = TRUE. After that ENABLE must be
set FALSE.
At the function input PDO the corresponding number from 1 ... 8
is indicated.
PDOs which are not to be utilized via the "predefined connection
set" must start with an identifier from 380 hex. Otherwise, this
can lead to overlapping with other system identifiers. As
transmission types (TRANS_TYPE) the modes SYNC (1) and
ASYNC (255) are available. If a transmission is not to be carried
out for each SYNC object, a value between 1 and 240 (number
of the SYNC objects between two accesses) can be entered.
To ensure data transmission in the SYNC mode the SYNC ID of
the master and the slave must match. As default value no
SYNC ID is entered for the slave.
Name Data type Description
ENABLE BOOL TRUE: The function is processed.
FALSE: The function is not processed.
PDO BYTE Number of the TX-PDO (1 ... 8)
ID WORD Identifier of the TX-PDO (from 380 hex)
TRANS_TYPE BYTE Type of PDO transmission
The types SYNC (0,1 ... 240) and
ASYNC (255) are supported.
INHIBIT_TIME TIME Delay times for the asynchronous
transmission mode (0 ... 65535ms)