Applied-motion ST10-C-CE Manual de usuario descargar pdf (Pagina 92)

920-0025 Rev K

3/5/2015

CANopen User Manual

TPDO Transmission Types

There are several triggering options for Transmit PDOs, which are controlled by OD en-

tries 1800

to 1803

, and their associated sub-entries.

Possible TPDO Triggers

SYNC pulse - Node will send TPDO after receiving one or multiple SYNC pulses

Event/Timer - Node will issue TPDO based on an internal event or timer

Remote Request - Node will send TPDO after a remote request

Table 28: TPDO Transmission Types

PDO Mapping

The Applied Motion Products CANopen allows you to map objects to PDOs to allow for

the transfer of application data more efciently. By using the PDO mapping, the user can map

multiple mappable Objects to a PDO, (max length for a PDO is 8 bytes). The following section

describes the process of a TPDO mapped to several objects.

Table 29: PDO Mapping

0 PDO transmitted on the next SYNC pulse after the statusword has changed

1 PDO transmitted on every SYNC pulse

2-240 PDO transmitted on every n SYNC pulses

254-255 PDO transmitted every time statusword changes, or the Event Timer has expired

TPDO Index Sub-Index Mapped To Index # Bytes

1A01

6041

1A01

700A

1 2 ... 87 88 89 90 91 92 93 94 95 96 97 ... 100 101

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Applied-motion ST10-C-CE Manual de usuario Pagina 92