Festo SEC-AC-305-CO, Руководство пользователя

Страница: 52 / 272

4. Access methods/SDO access
4−14
Festo P.BE−SEC−AC−CO−E N en 0802a
Value Admitted
for Meaning
FE
h
Cyclic
A Transfer−PDO will be updated and sent cyclic. The period is determined
by the object
inhibit_time .
Receive−PDOs will be evaluated immediately after receipt.
TPDOs
(RPDOs)
FF
h
On change
The Transfer−PDO will be sent, if at least one bit of the PDO data has
changed. Therefore the object
inhibit_time determines the minimal pe
riod between two PDOs in multiples of 100
μ
s.
TPDOs
Masking transmit_mask_high and transmit_mask_low
Using the transmission_type "On change" the TPDO will al
ways be sent if at least one bit has changed. Sometimes it is
useful to send the TPDO only if a defined bit has changed.
Therefore it is possible to mask the TPDO. Thereby only TPDO
bits with an "1" in the corresponding bit of the mask will take
effect to determine if the TPDO has changed. This function is
manufacturer specific and deactivated by default, i.e. all bits
of the mask are set by default.
EXAMPLE
Following objects should be transmitted in a PDO:
Name of object Index_subindex Mapping length /
Length of object Meaning
statusword 6041h_00
h
16 von 16 Bit Device Control
position_actual_value 6064h_00
h
32 von 32 Bit Actual position
digital_inputs 60FDh_00
h
16 von 32 Bit Digital inputs
The 1st Transmit−PDO (TPDO1) should be used and should
always be sent if a digital input changes but at most every 10
ms. The PDO should use identifier 201
h
.