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85201A_RK5C_User Manual_02-2017_ENG
1800h – TPDO1 communication parameter
This object contains the communication parameters for the PDOs the CANopen device is able to transmit.
Sub-index 1 contains the COB-ID of the TPDO1.
The object structure is specified in the following figure.
31
30
29
28
11 10
0
valid
RTR
frame
Reserved (0 0000h)
11-bit CAN-ID
Figure 38 - Structure of TPDO1 COB-ID
The value definition is given in the following table.
Field name
Value
Description
valid
0
PDO exists / is valid
1
PDO does not exists / is not valid
RTR
0
RTR is processed on this PDO
frame
0
11-bit CAN-ID valid (CAN base frame)
11 bit CAN-ID
000 Node-ID (default)
or user defined
11-bit CAN-ID of the CAN base frame
Table 7 - TPDO1 COB-ID fields
The user can change the default TPDO1 COB-ID value in the range of the allowed values, ensuring that no conflicts
with other COB-IDs are generated.
The value is also automatically changed in accordance with the “default scheme” when changing the Node-ID value.
Sub-index 2 defines the transmission type of the TPDO.
Three types of PDO transmission are defined:
1. Synchronous: means that the PDO is transmitted after the SYNC
2. RTR-only: means that the PDO is not transmitted normally it shall be requested via RTR
3. Event-driven: means that the PDO may be transmitted at any time based on the occurrence of a CANopen
device internal event
Transmission type settings are explained in the following table.
Value
Description
0
Synchronous (acyclic)
1
Synchronous (cyclic every 1 SYNC)
2
Synchronous (cyclic every 2 SYNC)
3
Synchronous (cyclic every 3 SYNC)
...
...
...
...
240
Synchronous (cyclic every 240 SYNC)
241
RESERVED
...
RESERVED
...
251
RESERVED
252
RTR-only
253
RTR-only
254
Event-driven (asynchronous)
255
Event-driven (asynchronous)
Table 8 - TPDO1 transmission type description