IFM DTM424, Руководство по эксплуатации

Страница: 18 / 59

18
As an option, the CANOpen service “ SYNC ” can be used (see CiA 301, 7.2.5
Synchronization object (SYNC)). For the synchronised transmission CANopen
provides the SYNC object at which the TPDOs are transmitted after every "nth"
reception of a SYNC telegram.
A total of 64 TPDOs and 64 RPDOs is available; on delivery only the first 4 of
each are active. If the configuration of the CANopen network allows it, the
remaining process data objects can also be activated.
In the standard settings, the process data is assigned to the linear address range
of the ID tag. The TPDO1 maps e.g. the first 8 bytes of the user data memory of
the ID tag.
Reading of the memory and transmission of the data via TPDO is effected
automatically as soon as a new ID tag is detected.
Writing of the data to the ID tag is effected in the same way by writing access to
the respective RPDO.
Data transfer per process data object is only possible in the "Operational"
operating status.
The preset TPDOs and RPDOs are allocated 64-bit data objects. For use
of 32-bit controllers, the settings of the PDOs must be adapted.
9.1.6 Object directory (OD)
CANopen communication (CiA 301)
Index Subindex Name (object) Type Access Default value PDO mapping capability Save object value
0x1000 0x00 Device type u32 ro 0x00000
000 - -
0x1001 0x00 Error register u8 ro 0x00 - -
0x1003 0x01
0x02 Pre-defined error field u32 ro 0x00000
000 - -
0x1005 0x00 COB -ID SYNC u32 rw 0x00000
000 - yes