AKD EtherCAT | 5 Appendix
Subindex
4
Name
reserved
Category
optional
Access
R/W
PDO Mapping
not possible
Value Range
0
Default Value
0
Subindex
5
Name
event timer
Category
optional
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED16 (0=not used, ms)
Default Value
0h
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit-Number
Value Meaning
31
0
PDO exists/is valid
1
PDO does not exist/is not valid
30
0
RTR allowed on this PDO, not supported
1
RTR not allowed on this PDO, not supported
29
0
11 bit-ID (CAN 2.0A)
1
29 bit-ID (CAN 2.0B), not supported
28 to 11
X
Identifier-bits with 29 bit-ID, not relevant
10 to 0
X
Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
l
A value of FFh or 255d for an event-triggered PDO, which is sent immediately after a
change in the mapped application objects. Setting of Subindex 3 or 5 has an influence on
the sending of a PDO. With Subindex 3 you can configure, in which minimal time the so
configured Transmit-PDOs are sent, if PDO-data contents change (reduction of bus-load).
With Subindex 5 (event time) a timer is used, which is reset with every event-triggered
sending of this PDO. If there is no change of the PDO-content in this time, the PDO is
sent caused by this timer event.
l
Values from 0 to 240 cause a SYNC-Telegram controlled sending of the PDO.
l
Values from 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO.
l
The value 0 means, that only the next SYNC-telegram leads to a sending of the so
configured PDOs.
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Kollmorgen | kdn.kollmorgen.com | October 2017
