IFM JD, Руководство по эксплуатации устройства

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8.9 PDO Transmission
Process data objects (PDOs) communicate process information and data that is
exchanged in real-time� The PDO set of a CANopen device describes the explicit
exchange between the device and the communication partners in the network� The
exchange of PDOs is only authorised if the device is in "Operational" mode�
PDOs can be directly mapped into memory locations on the controller and can be viewed upon
reading those memory locations�
8.9.1 Object 1800h - 1st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1st transmit PDO�
Sub-index
1)
Meaning Data type Default value Access Recovery after
boot-up
00h Number of sub-indices Unsigned 8 5 ro Yes
01h COB ID Unsigned 32 180h + Node ID10
(18Ah)
rw Yes
02h Transmission mode Unsigned 8 1 rw Yes
03h Inhibit time Unsigned 32 0 rw Yes
04h Not available
05h Event timer Unsigned 32 10 ms rw Yes
1) Sub-index: Second degree identifier used in combination with the object (follows the object number)�
Programming example (for NN=10 (0A))
The inclination sensor is supposed to send the PDO every 100 ms
(standard setting: The sensor responds to sync messages from the CANopen
master)
Step 1
Set all sensors to pre-operational mode
Identifier DLC Byte 0 Byte 1
00 2 80 00
Step 2
Set Event Timer 1800Sub05 to 100ms (100dec = 64h)
Identifier DLC Command Index Sub-
index
Service/process data
NN = 1 Download Byte 4 Byte 5 Byte 6 Byte 7
60A 8 22 00 18 05 64 00 00 00