migra MPB CAN
Large Format Graphics Compatible LED Display with CANopen Interface
Page 51
microSYST Systemelectronic GmbH, Am Gewerbepark 11, 92670 Windischeschenbach
+49 9681 91960-0,
+49 9681 91960-10, [email protected], www.microsyst.de
Interface Performance after Receiving an RS Frame:
1. Break down the RS frame into sub-frames of max. 7 bytes each.
2. Transfer the sub-frames.
* Prepare the contents of the PDO to be transmitted:
* Enter frame bytes of the sub-frame to be transmitted to PDO
bytes 2 through max. 8.
* PDO byte 1:
* Enter “sub-frame length”
(is always 7 unless the last sub-frame = 1 ... 7).
* Change the “toggle bit”.
* Set the “end bit” to 1, if no additional sub-frames need
to be transmitted.
* Wait until the selected inhibit time has elapsed (object 1800
h
,
subindex 3), if a PDO has been previously transmitted.
* Transmit the PDO.
* Repeat the last 3 steps until all sub-frames have been transferred.
3. Clear the RS receive buffer.