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8.5.2
Synchronous PDO
A PDO can be configured for synchronous transmission, i.e. to respond on a SYNC message. The sub index 2 of
the transmission type parameter determines after which number of SYNCs received the PDO will be transmitted.
(e.g.: If set to 05h, the device transmits only on every 5. SYNC). Here PDO1 is configured 01h in 1800h-02h:
600h+ID
8
2Fh
00h
18h
02h
01h
00h
00h
00h
CAN-ID
DLC Command
Object L Object H Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.49: Parametrization of PDO1 Sub-Index 2
Therefore transmission type for PDO1 is now synchronous. In Operational state the PDO1 will be sent as a
response on every SYNC message received.
8.5.3
Asynchronous PDO
Cyclic (triggered by internal event timer):
PDOs can be configured for asynchronous cyclic transmission.
Therefor the transmission type in object 1800h-02h (respectively 1801h-02h,
1802h-02h, 1803h-02h) has to be set to FFh. Sub index 5 of the same object is the cycle time in milliseconds.
Example: PDO1 transmitting asynchronously cyclic:
600h+ID
8
2Fh
00h
18h
02h
FFh
00h
00h
00h
CAN-ID
DLC Command
Object L Object H Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.50: Parametrization of PDO1 Sub-Index 2
Example: PDO1 with a cycle time of 30 milliseconds (1Eh):
600h+ID
8
2Bh
00h
18h
05h
1Eh
00h
00h
00h
CAN-ID
DLC Command
Object L Object H Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms
PDO1 is now in asynchronous mode and will be sent every 30 milliseconds when the encoder is in Operational
state.
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