Vacon CANopen OPTE6, User Manual

Page: 17 / 103

CANopen protocol description vacon • 17
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
3
3.5.3 Transmission type
1
For receive PDO, each sync transmission mode equals the same. Each sync always activates the latest
received PDO value.
Synchronous means that the PDO is transmitted after the SYNC. The CANopen device starts
sampling the data with the reception of the SYNC. If the transmission mode of the PDO is acyclic,
the CANopen device gives an internal event, the sampling starts with the next SYNC and the PDO is
transmitted afterwards. If the transmission mode
is cyclic, the sampling starts with the reception
of every SYNC, every second SYNC, every third SYNC etc. depending on the given value, and the PDO
is transmitted afterwards.
RTR-only means that the PDO is requested via RTR. If the transmission mode of the PDO is
synchronous, the CANopen device starts sampling with the reception of every SYNC and will buffer
the PDO. If the mode is event-driven, the CANopen device starts the sampling with the reception of
the RTR and transmits the PDO immediately.
Event-driven means that the PDO can be transmitted at any time based on the occurrence of the
internal event of the CANopen device. An event that triggers the OPTE6 transmission occurs when
the data mapped into the PDO is changed. Also, an event timer can be used to create transmit
events.
Inhibit time
For transmit PDOs, the inhibit time defines the minimum transmission interval, when 0xFE or 0xFF
transmission types are selected. For receive PDOs, the inhibit time is disabled. The inhibit time is
16bit unsigned value that is given as multiple of 100μs. Zero value means that the inhibit time is
disabled.
Table 25: PDO transmission types
Value Description
Receive
PDO Transmit
PDO
0x00
Synchronous (acyclic)
X X
0x01 Synchronous (cyclic every sync)
X
1
X
0x02 Synchronous (cyclic every 2
nd
sync)
X
1
X
0x03 Synchronous (cyclic every 3
rd
sync)
X
1
X
0x04 Synchronous (cyclic every 4
th
sync)
X
1
X
... ...
X
1
X
0xF0
Synchronous (cyclic every 240
th
sync) X
1
X
0xF1
Reserved
- -
... ... - -
0xFB
Reserved
- -
0xFC RTR-only (synchronous) - X
0xFD
RTR-only (Event-driven)
- X
0xFE
Event-driven (manufacturer-specific)
X X
0xFF Event-driven (device and application profile) X X