CANopen
Operating Modes
© Fritz Kübler GmbH, Zähl-und Sensortechnik
Page 37
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CANopen Operating Modes
Event-Mode:
event-driven operating mode
the multiturn encoder continuously scans internally the
current position and compares it with the previously
sent position. If there is a deviation, the current position
is emitted via the CAN Bus. The transmission is
performed via a PDO Asynchronous Object. The
transmission is performed in the mode called
Streaming-Mode, i.e. each new position determines a
new CAN Message.
Position value asynchronous (Node-ID set to 63h)
385 – 1 + 63 = 447 ->
1BF
h determined Identifier
Cyclic-Mode:
time-driven transmission
the transmission of the current position via the CAN bus
is
time-driven
(range 1ms – 65535ms ).The time set (Object
6200h) defines the frequency of the transmission. The
transmission is performed via a PDO Asynchronous
Object.
Position value asynchronous (Node-ID set to 63h)
385 – 1 + 63 = 447 ->
1BF
h determined Identifier
Object 6200H: Cyclic Timer
Object 6200h describes the „Cyclic timer“ parameter.
The cyclic timer defines the time period for all
asynchronous
PDO’s
(e.g. PDO 1800h). A cyclic
transmission of the position value is set when the
timer
value is programmed > 0
. Values between
1 ms and 65535 ms
may be set.
Example:1 ms = 1h (Hexadecimal value)
256 ms = 100h
Synchronous Mode:
synchronous timing-driven transmission
