DSP resolver user manual
User Manual
Version 1.15
4) If you want to make the change last longer than until next reset, you have send
store communication parameters command to the module. This is done by writing
“save” signature to the sub index 1 of the
co_store
object ( index 0x1010)
CAN ID
Length
0
1
2
3
4
5
6
7
60A
8
23
10
10
01
73
61
76
65
Module's respond if write succeeded:
CAN ID
Length
0
1
2
3
4
5
6
7
58A
8
60
10
10
01
00
00
00
00
If you now reset the module the changes should still be valid.
The easiest way to configure the modules by hand is to buy a CAN open tool which
provides a straight access to the objects in the object dictionary. Contact Axiomatic
Technologies to get more information.
8.3.3
PDO transmissions
PDO transmissions may be driven by an internal event, by an internal timer, by remote
requests and by receiving Sync messages. The transmission type is defined in PDO's
communication parameter table. The transmission type variable of the TPDO_1 is located
in index 0x1800 sub index 2.
•
Event- or timer-driven: An event (specified in the device profile) triggers message
transmission. An elapsed timer may also trigger the transmission. Note that the
transmission interval can be configured only as multiplies of the
co_CAN_period
(obj 2106).
•
Remotely requested: Another device may initiate the transmission of an
asynchronous PDO by sending a remote transmission request.
Not supported in
Axiomatic modules.
•
Synchronous transmission: In order to initiate simultaneous sampling of input
values of all nodes, a periodically transmitted Sync message is required.
Synchronous transmission of PDOs takes place in cyclic and acyclic transmission
mode. Cyclic transmission means that the node waits for the Sync message, after
which it sends its measured values. Its PDO transmission type number (1 to 240)
indicates the Sync rate it listens to. Acyclically transmitted synchronous PDOs are
triggered by a defined application-specific event. The node transmits its values
with the next Sync message but will not transmit again until another application-
specific event has occurred.
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©
Axiomatic Technologies Oy
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