EDS94AYCCA EN 5.0 - 06/2012
L
47
E94AYCCA communication manual (CANopen®)
Process data transfer
Transmission type
8.2
Transmission type
The process data objects are transmitted in an event-controlled or time-controlled way.
Event-controlled:
The PDO is sent if a special device-internal event has occurred, for
instance, when the data contents of the TPDO have changed or when a transmission
cycle time has elapsed.
Synchronous:
A TPDO (or RPDO) is transmitted (or received) after the device has
received a sync telegram (with identifier 0x80).
Cyclically:
The PDOs are transmitted in fixed time intervals after the transmission cycle
time has elapsed.
The table shows that combinations of logic operations (AND, OR) are also possible between
the different transmission modes:
Transmission type
PDO transmission
Logic operation
cyclic
synchronous
event-controlled
0
z
z
AND
1 ... 240
z
-
254, 255
z
z
OR
Transmission type
Description
0
The PDO is transmitted at every sync in an event-controlled manner (e. g. by means of a bit
change within the PDO).
1 ... 240
SYNC (with response)
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n
≤
240: The PDO is transmitted with every n-th sync.
254, 255
Event-controlled (with mask) with cyclic overlay
If this value is entered, the PDO transmission is event-controlled or cyclic.
(Note: The values "254" and "255" have the same meaning).
For cyclic overlay, a cycle time must be set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission (e.g. through a bit
change in the PDO).