PM
-
3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 51
Copyright © ICP DAS Co., Ltd. All Rights Reserved.
E-mail: [email protected]
The PDO, including the DI value, will be sent when the DI value is changed. And
both transmission types will directly trigger an update of the mapped data when
receiving the RxPDO.
The PM-3133i-CPS doesn
’t support RxPDO.
8.2.2.3 PDO Communication Rule
The PDO related objects are indicated from index 0x1400 to 0x1BFF. For the
PM-3133i-CPS, RxPDO communication objects are not used. The ranges of the TxPDO
communication objects and the mapping objects are from index 0x1800 to index 0x1813
and from index 0x1A00 to index 0x1A13 respectively. Moreover, each PDO
communication object has its own PDO mapping object.
For example, the first TxPDO communication object is stored in the entry with index
0x1800, and the corresponding mapping object is stored in an entry with index 0x1A00.
The object with index 0x1801 and the object with index 0x1A01 are a group, and so on.
Therefore, before users access the practical data via PDO communication, each
parameter for the PDO communications and mapping objects must be controlled.
Besides, only PDO communications can be used in the NMT operational state. Users
can use the NMT module control protocol to change the NMT state of the
PM-3133i-CPS. It is described in the section 8.3.3. Besides, during communication via
the PDO messages, the data length of the PDO message must match with the PDO
mapp
ing object. If the data length ‘L’ of the PDO message exceeds the total bytes ‘n’ of
the PDO mapping object entries, only the first 'n' bytes of the PDO message are used by
the PDO
consumer. If ‘L’ is less than 'n', the PDO message will not be disposed by the
PDO consumer, and an Emergency message with error code 8210h will be transmitted
to the PDO producer. The PDO communication set is shown as follows.
