Isel IMD1, Руководство пользователя

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Positioning module UVE8112, IMD10 CanOpen
protocol
Procedure for the setting of t pping:
The setting of the mapping is carried out via SDO.
e try x 0 in defi th number of a
Before the mapping can be changed, sub-index 0 must be set to 0 in order to deactivate the
apping.
mapping entries can be described as of sub-index 1.
rresponding n of obje c i in th 0. If an object
d or if the le the PD c tran rrupted with a
corresponding error message.
Types of transfer
ggered by three different events:
f the PDO vi ote req R
he f a SYNC m
PDOs are transferred directly after the SYNC object.
any given point in time.
he ma
Th en under sub-inde the mapping table nes e ctive objects in the PDO.
m
Afterwards, the
At t
can he end
not be
, the co
mappe
umber
ngth of
cts is on
O is ex
e aga
eeded
n entered
, the SDO
e sub-index
sfer is inte
The transfer of PDOs can be tri
•
by an internal event (e.g. change of a status) or an internal timer.
•
by the query o a a rem uest (RT Can object).
•
by t receipt o essage.
Furthermore, two types of transfer are distinguished:
•
synchronous transfer. Synchronous
asynchronous transfer. Asynchr
•
onous PDOs can be transferred at
SYNC SYNC SYNC SYNC SYNC
Time
Synchronous Asynchronous
f nchronous PD n again iv i pes:
•
Cyclic PDOs are transferred periodically according to an adjustable number of SYNC impulses
40
ignal, but not periodically.
The trans er of sy Os ca be subd ided nto two ty
(1-2 ).
•
Acyclic PDOs are released by an internal event. They are transferred synchronously with the
SYNC s
SYNC SYNC SYNC SYNC SYNC
Time
Cyclic PDO Acyclic PDO
ve th o ex 1 h a O . The
The
gi setting of the type of transfer of PDOs is
n in
made via PDO communications parameters that are
f ind e object directory for R_PDOs as 400 nd for T_PD s as of index 1800h
following table shows an overview of the types of transfer and allocation to the parameter
transmission type.
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