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85201A_RK5C_User Manual_02-2017_ENG
Asynchronous Transmission with RTR frames
The transmission of the PDO is performed after the CANopen device receive the PDO remote frame.
The format of the PDO remote frame is explained in the following figure.
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
PDO COB-ID
+ RTR bit
Rx
0
-
-
-
-
-
-
-
-
Figure 43 - RTR message format
Asynchronous Transmission
The transmission of the PDO is performed cyclically after the event-timer has elapsed. The transmission period, expres-
sed in multiples of 1 ms, can be changed through the object 1800h sub-index 5 (PDO event timer) or through the object
6200h (cyclic timer).