Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
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Chapter 9 – Interfaces
9.3.2 Operating Modes and States
Note that not every device supports every operating mode. Devices from Götting
normally support the operating modes 1 to 240 and 255.
Note that a CAN identifier or, in the case of CANopen®, the combination of CAN
identifier and node identifier must always be unique!
Table 12
CANopen®: Parameter PDO operating mode
Value
cyclic
acyclic
synchro
-
nous
asynchro
-
nous
only on request
(RTR)
0
x
x
1-240
x
x
241-251
reserved
252
x
x
253
x
x
254
x
255
x
Table 13
CANopen®: PDO operating modes
Operating
mode
Explanation
Cyclic
Data is transmitted every nth sync telegram
Acylic
Transmits if an event has occurred since the last Sync telegram
Synchronous Data is transmitted after receipt of a sync telegram
Asynchronous Data is transmitted event-driven
RTR
Only on request by a remote frame
Inhibit Time
Minimum time period which has to pass before the next transmis
-
sion of the same PDO
Event Time
Triggers an event on expiry. Is re-started after each event.
Table 14
CAN: Bit and byte sequences
Name
Meaning
Low Byte
First
Little-endian format, Intel format
The least significant byte of a multibyte value is sent first.
High Byte
First
Big-Endian format, Motorola format
The respective most significant byte of a multi-byte value is sent
first
Left-aligned
Order of the bits in a byte from left (most significant) to right (least
significant).
Table 15
CANopen®-Operation mode
Name
Meaning
Stopped
Only network management services executable
Pre-Operational
Full configuration possible, no sending of PDOs
Operational
Full configuration possible, set PDOs are sent
