CANopen gateway
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
146
SDO 1800 … 1803: Communication parameters for the TxPDOs
SDO 1400 to 1403 can be used to configure the communication parameters for TxPDOs 1 to 4, e.g.
SDO 1800 defines the parameters for TxPDO 1, etc.
Table 110: Content of SDO 1800 ... 1803
Subindex Mapping
Format
Description
1
COB ID
UDINT
CAN identifier for this PDO,
write-protected
2
Transmission type
SINT
Defines when the PDO is
to be sent
5
Event timer
UINT
in ms
The transmission type for all TxPDOs to 255 (asynchronous mode, event-driven) has been preset.
The event timer contains the time in Ms for the cyclic transmission of the TxPDOs.
Transmission types for the TxPDOs
Table 111: Transmission types for the TxPDOs
TxPDO
Synchronous
Asynchronous
RTR
1, 2, 3, 4
0, 1…240
254, 255
253
NOTICE
When the transmission type is set to an invalid value, an error code is generated (abort code 0030
0030h, invalid parameter value).
Synchronous:
The 0 synchronous transmission type means that the TxPDO is only sent when a
sync command has been received, but only when data have changed. The synchronous
transmission types n = 1 ... 240 mean that the TxPDO is sent after the nth
sync command has been received.
Asynchronous, event-driven with change of state:
The asynchronous transmission type 255 (wit-
hout a configured event timer) means that the TxPDO is sent each time
at least one input bit contained in this PDO has changed.
Asynchronous, event-driven by timer:
The asynchronous transmission type 254/255 (with a
configured event timer) means that the TxPDO is sent each time the
event timer has run out, e.g. a value of 500 signals to the event timer that the
gateway sends the relevant TxPDO every 500 ms.
RTR, on request:
Transmission type 253 means that the TxPDO can be requested with the aid of an
RTR (remote transmission request). This requires a CAN message to the gateway with DLC = 0, RTR =
1 and the COB-ID of the TxPDO. The gateway then responds with the requested TxPDO.
SDO 1A00 … 1A03: Mapping parameters for the TxPDOs
This SDO cannot be used, as mapping of the TxPDOs takes place with the aid of the samosPLAN
6.
Also see: Table
"Pre-set for the content of the transmit process data objects (TxPDOs)" [ch. 10.8, p. 138]
SDO 3100: Module state bits
SDO 3100 contains the module state bits of the samosPRO system (see
). Active bits are low (= "0").
