HMS AB7307, Руководство пользователя

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CANopen Module Specification 30
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
RPDO Transmission Types
The RPDOs can be received either in synchronous or asynchronous mode. A synchronization (SYNC)
object is transmitted periodically by a synchronization master. The data in synchronous RPDOs are not
transferred to the application until after the next SYNC object is received. Asynchronous RPDOs will
be transferred directly.
The transmission type parameter of a RPDO specifies the triggering mode.
TPDO Transmission Types
The TPDOs can be transmitted either in synchronous or asynchronous mode. A synchronization
(SYNC) object is transmitted periodically by a synchronization master. Synchronous TPDOs are trans-
mitted within a predefined time-window immediately after a configured number of SYNC objects, or
after the SYNC object that follows upon a CoS (Change of State event). Asynchronous TPDOs can be
transmitted at any time, triggered by a CoS or a cyclic period set in the Event Timer.
The transmission type parameter of a TPDO specifies the transmission mode as well as the triggering
mode.
6.3 LSS Services
LSS master functionality according to the CANopen DS305 specification is supported by the module.
The module can configure baud rate and node ID of all slaves that support LSS (i.e. the preconfigured
baud rate and node ID of a slave can be changed by a master). The module can not act as an LSS slave.
An LSS Slave is identified by its LSS address, that consists of Vendor ID, Product Code, Revision Num-
ber and Serial Number of the LSS slave module. If there is a missing slave on the network after the boot
timeout, the master will initiate the LSS routine, see Network Management Object “Boot Time, 1F89h”
on page 40. It will send an identify slave request, using the LSS address of the slave. If one (and only
one) slave responds to this request, the master will set the NodeID on that node to the first missing No-
deID. It will then send a bootup message to the node.
Transmission
type, RPDO
Mode RPDO transmission description
0 - 240 Synchronous A received RPDO is transferred to the application after a SYNC object is received.
241 - 253 - Reserved
254 - 255
(Default = 255) Event driven An RPDO is transmitted without any relation to the SYNC object.
Transmission
type, TPDO
Mode TPDO transmission description
0 Synchronous,
acyclic A TPDO is triggered by an event, but not transmitted before the occurrence of a
SYNC object.
1 - 240 Synchronous,
cyclic A TPDO is transmitted with every n-th SYNC object, where n is a defined number
from 1 - 240.
241 - 253 - Reserved
254 - 255
(Default = 255) Event driven A TPDO is transmitted without any relation to the SYNC object. The transmission is
triggered by a CoS event or if a specified time has elapsed without an event.