Vacon CANopen OPTE6, Руководство пользователя

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vacon • 18 CANopen protocol description
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Event timer
For a transmit PDO event, the timer defines the maximum interval between the transmissions, if
the transmission type is set to 0xFE or 0xFF.
For a receive PDO event, the timer activates the deadline monitoring. The deadline monitoring is
activated at the first received PDO. If the time between the after the last PDO received is longer
than defined in the event timer, a fault will occur.
Event timer is 16bit unsigned value that is given as multiple of 1ms. Zero value means that the event
timer is disabled.
Sync start value
Sync start value gives the possibility to compensate network peak traffic in case of sync
transmission mode.
If the sync start value is zero, the normal sync behaviour for the PDO is used.
If the sync start value is greater than zero, the PDO waits for the SYNC message that contains the
counter value. When the counter value of a SYNC message equals the SYNC start value, the first
SYNC message is regarded as received. The sync start value must not be changed while the PDO
exists. See the SYNC message format in Table 29.
3.5.4 PDO parameter mapping record
Each PDO consists of a maximum of 8 bytes of mapped data. To data map the PDO, use a
corresponding mapping record that consists of index, sub-index and the length of the mapped
object.
Table 26: PDO mapping structure
31 16 15 8 7 0
Index Sub-index Length
Table 27: PDO mapping parameter record
Indexes Sub-index Name Data type Access
0x1600
0x1601
0x1602
0x1A00
0x1A01
0x1A02
0
Number of mapped objects in
PDO
UNSIGNED8 r/w
1
1st object to be mapped UNSIGNED32 r/w
2
2nd object to be mapped UNSIGNED32 r/w
3
3rd object to be mapped UNSIGNED32 r/w
4
4th object to be mapped UNSIGNED32 r/w