PM
-
3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 50
Copyright © ICP DAS Co., Ltd. All Rights Reserved.
E-mail: [email protected]
Note:
1. Users can also define the PDO COB-ID by themselves. Actually, all COB-ID can be
defined by users except the reserved COB-ID described in the table of the section
3.1. It is important to avoid the conflict with the defined COB-ID used in the same
node.
2. The PDO COB-ID parameters cannot be changed if the PDO is valid (bit 31 =0).
8.2.2.2 Transmission Type
The transmission type is one of the several parameters defined in PDO communication
objects with sub-index 02. Each PDO has its own transmission type. The transmission
type can indicate the transmission or reception character for its corresponding PDO.
The following table describes the relationship between the value of the transmission
type and the PDO character. For example, if users used transmission type 0 for the first
TxPDO, the CANopen device will follow the rule of the acyclic and synchronous PDO
transmission.
Transmission
Type
PDO Transmission Method
cyclic
acyclic
synchronous
Asynchronous
RTR only
0
O
O
1-240
O
O
241-251
----------------------------Reserved-----------------------------------
252
O
O
253
O
O
254
O
255
O
Note:
The transmission type 1-240 indicates how many SYNC objects the TxPDO will be
triggered. The RxPDO is always triggered by the following SYNC upon reception of
data independent of the transmission types 0-240.
The transmission type 252 and 253 are only used for TxPDO. The transmission
type 252 means that the data is updated (but not sent) immediately after reception
of the SYNC object. For these two transmission types, the PDO is only transmitted
on remote transmission requests.
For the transmission types 254 and 255, the event timer will be used in the TxPDO.
