24/90
User manual SCAIME:
NU-Soft-eNod4F-E-0716_235704-C.doc
6070012
data type does not match, length of service parameter too high
6070013
data type does not match, length of service parameter too low
6090011
Sub index object does not exist.
6090030
value range of parameter exceeded
6090031
value of parameter written too high
6090032
value of parameter written too low
8000020
data cannot be stored to the application
8000022
data cannot be transferred or store to the application because of the
present device state
5.7.2
PDO communications
SDO protocol is not the only way to access the object dictionary. PDO allow to transfer data without including their
index and sub-index in the frame. Both are stored in an OD specific field called PDO mapping.
The model used for PDO transmissions also is different. It is a Producer/Consumer model in which data are sent by a
producer node (TPDO) to a consumer node (RPDO) without any confirmation.
Each PDO is described by a combination of two parameters of the OD: the
PDO communication parameters
and the
PDO mapping
. The PDO communication parameters describe the functioning of the PDO and the PDO mapping
describes its content.
eNod4
uses
3 TPDO
(2 are programmable) and
5 RPDO
.
The PDO transmission mode can be set in the corresponding object with the following attributes:
Synchronous:
PDO transmission/reception is triggered by the reception of one or more SYNC messages.
Several options are available :
-
cyclic: PDO is sent/received after reception of n (1
n
240) SYNC messages.
-
acyclic: PDO is sent at reception of the first SYNC message following a specific device event
(activation of a logical input assigned to
‘send TPDO’
or data variation superior to +/- delta)
-
on remote transmit request : PDO is sent after the first SYNC message following a remote
transmit request frame with the PDO COB-ID.
Asynchronous:
PDO transmission/reception does not depend on the SYNC messages on the CAN bus.
Several options are available :
-
on remote transmit request : PDO is sent at reception of a remote transmit request frame with
the PDO COB-ID.
-
activation of a logical input assigned to
‘send TPDO’
or data variation superior to +/- delta)
-
on a timer event : PDO is sent periodically (with an adjustable period).
The following table recaps the trigger modes that can be chosen by entering the hexadecimal code in the PDO
communication parameter:
