SD710 Series Servo Drive User Manal Chapter 11 Communication
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"00000201h" to this COB_ID will activate RPDO1.
(4) Transmission type of PDO
The transmission type of the PDO is located on sub-index 02 of the communication parameters (RPDO: 1400h to 1403h;
TPDO: 1800h to 1803h).
Table 11-25 Classification of PDO Transmission Types
Communication type value
Synchronous
Asynchronous
cycle
acyclic
0
○
1 to 240
○
-
-
241-253
--
254/255
-
-
○
When the transmission type of the TPDO is 0, the TPDO is sent if the mapped data changes and a synchronization frame
is received.
When the transmission type of the TPD0 is 1 to 240, the TPDO is sent when the corresponding number of synchronization
frames is received.
When the transmission type of the TPDO is 254 or 255, the TPDO is sent when the mapped data changes or the event
timer arrives.
When the output type of the RPDO is 0 to 240, update the latest data of that RPDO to the application whenever a
synchronization frame is received.
When the transmission type of RPDO is 254 or 255, the received data is updated directly to the application.
(5) Prohibition of time
The prohibition time is set for the TPDO and is stored on sub-index 03 of the communication parameter (1800h to 1803h)
to prevent the CAN network from being continuously occupied by a PDO with a lower priority. The time unit of this
parameter is 125us, and after setting the value, the transmission interval of the same TPDO must not be smaller than the
time corresponding to this parameter.
For example, if the prohibition time of TPDO1 is 16, the minimum transmission interval of TPDO1 is 2ms.
Attention
！
● The prohibition time should not be too small, otherwise the bus may be overloaded when
the data keeps changing. Please set the prohibition time reasonably.
(6) Event Timer
For TPDO with asynchronous transmission (transmission type 254 or 255), an event timer is defined, which is located on
sub-index 05 of the communication parameters (1800h to 1803h). The event timer can also be seen as a trigger time
(timer) that triggers the corresponding TPDO when the set time is reached.
(7) PDO mapping parameters
All PDO transmission data must be mapped to the corresponding index area through the object dictionary. When mapping,
the index, Sub index and mapped object lengths need to be configured in the appropriate format. The length of each PDO
data cannot exceed 8 bytes and can map one or more objects at the same time. The index 0 records the number of
objects specifically mapped by this PDO, and the sub-indexes 1 to 4 are the mapping contents. The mapping parameters
