MicroControl uCAN.8.dio-BOX, Руководство пользователя

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CANopen Protocol PDO Communication
Page
63
MicroControl Version 2.00
μCAN.8.dio-BOX
8
8.6.3 Transmit PDO
Index 1800h The object at index 1800h defines communication parameters
for the Transmit-PDO.
Sub-Index Data Type Acc. Name Default Value
0 Unsigned8 ro Largest Sub-Index 5
1 Unsigned32 rw COB-ID for PDO 180h + Node
2 Unsigned8 rw Transmission Type FFh
5 Unsigned16 rw Event Timer 0000h
Only sub-indices 0 to 2 and 5 are supported. An access to other
sub-indices will lead to an error message.
COB-ID for PDO Sub-Index 1 defined the identifier for the Transmit-PDO. The 32-
bit value has the following structure.
Tabelle 16: Definition of COB-ID for PDO
Bit 31 Bit 30 Bit 29 Bit 28 - 0
PDO valid,
0 = valid
1 = not valid RTR allowed,
0 = yes
1 = no RTR Frame type,
0 = 11 Bit
1 = 29 Bit Identifier,
In order to enable the PDO the most significant bit (Bit 31) must
be set to 0. In order to disable the PDO the most significant bit
must be set to 1. In the default setting the PDO is active (Bit 31 =
0).
Transmission Type The transmission type defines the transmission character of the
PDO.
Tabelle 17: Setup of Transmission Type
Transmission Type Description
00h acyclic synchronous,
01h - F0h
(1 - 240 dez) cyclic synchronous,
FFh
(255 dez) event driven,
PDO is sent when Event Timer elapses