Woodward easYgen-3000XT Series, Manual, Page: 789 / 1205

6.4.2 Sending A Data Protocol via TPDO
This is a configuration example for sending an object (data protocol 5003) on CAN ID 2AE
(hex) every 20 ms on TPDO1. For this, TPDO1 must be configured as follows:
⚙
1. ▷
Either on the front panel or using ToolKit navigate to menu [Configure CAN interface 1 /
Transmit PDO 1].
2. ▷ Configure the parameters listed below.
ID Parameter Value Comment
9600 COB-ID 000002AE
(hex) COB-ID set to 000002AE.
9602 Transmission
type 255 The number of required sync messages is set to 255.
9604 Event timer 20 ms Object is sent every 20 ms.
8962 Selected
Data
Protocol 5003 Data protocol 5003 is used.
9609 Number of
Mapped
Objects 0 No mapped object is configured
The data to be sent (Mapped Objects) may be provided on request by configuring the
"COB-ID SYNC Message" (parameter
╚═▷ 9100 ) and the "Transmission type" (parameter
╚═▷ 9602 , ╚═▷ 9612 , ╚═▷ 9622 , ╚═▷ 9632 , or ╚═▷ 12793 ) of a TPDO. The unit is
requested to send its data by sending a Sync Message.
The number of required Sync Messages is determined by the setting of the Transmission
Type.
If the data is to be sent on request, Bit 30 of the "COB-ID SYNC Message" (parameter ╚═▷
9100 ) must be configured to "0" and the "CANopen Master" (parameter ╚═▷ 8993 )
function must be configured to "Off".
Additional example
The "Transmission type" of TPDO 1 (parameter ╚═▷ 9602 ) is configured to "2" in the
following example. This means that a message of the configured TPDO is sent by the unit
after two Sync Messages have been sent to the unit.
⚙
1. ▷
Either on the front panel or using ToolKit navigate to menu [Configure CAN interface 1 /
Transmit PDO 1].
2. ▷ Configure the parameters listed below.
ID Parameter Value Comment
9600 COB-ID 000002AE
(hex) COB-ID set to 000002AE.
9602 Transmission
type 2 The number of required sync messages is set to 2.
789 easYgen-3000XT Series B37574
6 Application Field
6.4.2 Sending A Data Protocol via TPDO
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