ACS CANopen Manual
Version 20110928
18 of 44
AC C E L E N S ( AC S ) C AN o p e n
Transmission Mode
The transmission mode (Sub index 2) for Objects 1800 and 1801 can be configured as described below:
Transfer
Value
(Dec)
Transmission Mode
Notes
Cyclic
Acyclic
Synchro
nous
Asynchronous
RTR
Only
0
X
X
Send PDO on first sync
message following an
event
1-240
X
X
Send PDO every x sync
messages
241-251
Reserved
252
X
X
Receive Sync and send
PDO on remote request
253
X
Update data and send
PDO on remote request
254
X
Send PDO on event
255
X
Send PDO on Event
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO
transmissions can be entered in this 16 bit field. If
data is changed, the PDO sender checks whether
an "inhibit time" has expired since the last
transmission. A new PDO transmission can only
take place if the "inhibit time" has expired. The
"inhibit
time"
is
useful
for
asynchronous
transmission (transmission mode 254 and 255), to
avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous
transmission mode (transmission mode 254 and
255). If the data changes before the "event timer"
expires, a temporary telegram is sent. If a value >
0 is written in this 16-bit field, the transmit PDO is
always sent after the "event timer" expires. The
value is written in sub index 5 of a transmit PDO.
The data transfer also takes place with no change
to data. The range is between 1-65536 ms.
Cyclic Timer
The cyclic timer is useful to set the position
transmission to cyclic mode. The cyclic timer can
be programmed from 0ms to 65536ms. When
enabled, the ACS transmits the position value
contained in the PDO, at constant prescribed
intervals even if there is no change in the position
value. Object 2200h is used to set the cyclic timer
value.
