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User manual SCAIME:
NU-Soft-eNod4F-E-0716_235704-C.doc
Note 1:
for RPDO1-2-3-4-5 and TPDO1, only the transmission types FF
H
and 00
H
are supported. That means
data are updated either immediately upon reception (FF
H
) or after next
SYNC
following the RPDO reception
(00
H
). For TPDO1, the FE
H
transmission type means that the TPDO1 is emitted by
eNod4
every time it’s
mapped value changes. The 00
H
transmission type is similar but the emission is triggered by the reception of
a
SYNC
object.
Note 2:
RPDO1-2-3-4-5 and TPDO1 mapping are configured with default values that cannot be modified.
5.8
CANopen command and response registers
In CANopen® communication protocol, the
‘
command register’
is mapped into
RPDO1
and the
‘
response register
’
is
mapped into
TPDO1
. When in operational NMT state,
eNod4
is able to handle the
functional commands
received
through
RPDO1
and the
‘
response register’
value changes are automatically transmitted through
TPDO1
.
5.9
Communication objects
Some settings are specific as defined by the CANopen® communication specification.
Code
(hex)
cyclic
acyclic
(event)
synchronous
asynchronous
remote
transmit
request
Effect
00
X
X
X
X
X
X
PDO transmission/reception after a
SYNC message following one of these
events :
- activation of a logical input assigned
to ‘send TPDO’
- mapped object variation superior to
+/- delta
- Receipt of remote transmit request.
01
–
F0
( = n)
X
X
X
X
X
X
PDO transmission after n SYNC
messages
- Or after receipt of remote transmit
request following at less one SYNC.
F1 - FB
reserved
FC
X
X
X
X
data update at reception of a remote
transmit
request
and
PDO
transmission after reception of a
SYNC message
FD
X
X
X
X
data update and PDO transmission
at reception of a remote transmit
request
FE
X
X
X
X
PDO transmission is triggered by one
of these events :
- activation of a logical input assigned
to ‘send TPDO’
- mapped object variation superior to
+/- delta
- receipt of remote transmit request
more for TPDO2 and 3, functioning is
identical to code FF
FF
X
X
X
X
Periodic TPDO emission
. Period can
be configured (min = 1 ms).
RPDO handled upon reception
TPDO emission after receipt of
remote transmit request
