INVT Goodrive350 Series, Operation Manual

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Communication extension card CANopen communication card
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3.5.1 Triggering mode of PDO Tx
Each PDO Tx is defined with a transmission type, disabled time, and event timer. The
corresponding subindex of the transmission type is 0x02, that of the disabled time is 0x03, and
that of the event timer is 0x05. Therefore, the object dictionary index corresponding to PDO2
Tx is 0x1801, and the subindex is 0x02. The same principle applies to other PDO Tx
commands. For more information, see Appendix A.
Synchronous triggering: When the transmission type is set to 1 to 240, PDO Tx is
synchronous transmission. For example, if you set the transmission type of PDO2 Tx to
n
(1≤ n ≤240), a slave station transmits one PDO2 Tx command every time after it receives n
synchronous packet objects. The same principle applies to other PDO Tx commands.
Asynchronous triggering (254): When the value of the event timer is not zero, a slave station
transmits PDO Tx commands periodically. For example, if the event timer of PDO2 Tx is set to
200, the slave station transmits a PDO2 Tx command at the interval of 200 ms. When the
value of the event timer is zero, the slave station transmits a PDO Tx command once the
corresponding PDO Tx data changes, and the transmission interval is subject to the disabled
time. A PDO Tx packet can be transmitted only once in the disabled time, which effectively
reduces the load of the bus. When the disabled time is set to a period shorter than 50 ms, 50
ms is used as the disabled time.
Asynchronous triggering (255): When the value of the event timer is not zero, a slave station
transmits PDO Tx commands periodically. For example, if the event timer of PDO2 Tx is set to
200, the slave station transmits a PDO2 Tx command at the interval of 200 ms. When the
value of the event timer is zero, the slave station transmits a PDO Tx command once a
corresponding PDO Rx command is received. For example, after receiving a PDO2 Rx
command, the slave station transmits a PDO2 Tx command.
Table 3-11 Triggering modes supported by the communication card
Triggering
mode
Transmission
type (decimal)
Event
triggering
PDO1 TX
PDO2
TX
PDO3
TX
PDO4
TX
Synchronous 1–240 /
Non-supported Supported Supported Supported
Asynchronous
254
Event timer
Non-supported Supported Supported Supported
Disabled
time
Non-supported Supported Supported Supported
255
Event
timer=0
Supported Supported Supported Supported
Event
timer=0
Non-supported Supported Supported Supported
Table 3-12 Default PDO Tx settings of the communication card
PDO1 TX PDO2 TX PDO3 TX PDO4 TX
Transmission type 255 254 254 254