CO4011A-FL Datasheet, PDF (17/37 Pages) List of Unclassifed Manufacturers – Single Chip CANopen Controller for Remote I/O

CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS301: PDO Parameter Objects
Communication Parameter Objects
The following table shows the communication
parameter objects for Index 140x (Receive PDOs)
and Index 180x (Transmit PDOs). The tables show
Index 1400 as an example for all PDOs
The transmission type (sub-index 2) defines the
mode for transmission / reception of the PDO. See
table for detailed description of this entry.
Description of transmission type:
Type
cyclic
0
1-240
X
241-251
252
253
254
255
PDO transmission
acyclic Sync Async. Only
related
on
remote
X
X
X
Reserved
X
X
X
X
X
X
Synchronous (transmission types 0-240 and 252)
means that the transmission of the PDO shall be
related to the SYNC object. Asynchronous means
that the transmission of the PDO is not related to the
SYNC object.
A transmission type of zero means that the message
shall be transmitted synchronously with the SYNC
object but not periodically but only in case of data
change.
A value between 1 and 240 means that the PDO is
transferred synchronously and cyclically, the trans-
mission type indicating the number of SYNC signals,
which are necessary to trigger PDO transmissions or
receptions.
The transmission types 252 and 253 mean that the
PDO is only transmitted on reception of a remote
frame. At transmission type 252, the data is updated
(but not sent) immediately after reception of the
SYNC object. At transmission type 253 the data is
updated at the reception of the remote frame. These
values are only possible for transmit PDOs.
Transmission type 254 selects the CanEASY mode.
Transmission type 255 means, the application event
is defined in the device profile. For receive PDOs the
reception of a PDO will update the mapped data
(normally the analog or digital outputs).
Sub-index 3h contains the inhibit time. This time is a
minimum interval for PDO transmission. The value is
defined as multiple of 100ms.
Sub-index 4h is reserved.
In mode 254/255 additionally an event time can be
used for TPDO. If an event timer exists for a TPDO
(value not equal to 0) the elapsed timer is considered
to be an event. The event time is a multiple of 1 ms.
This event will cause the transmission of this TPDO
in addition to otherwise defined events.
Index
Name
Description
Data Type
1400h
Receive PDO1
Communication Parameters
-
Structure
Index
1400h Subindex 0
Name
Largest SubIndex supported
Description -
Data Type
Unsigned 8
Access modes RO
PDO Mapping No
Value Range -
Default Value 5
Index
1400h Subindex 1
Name
COB-ID
Description Identifier for CAN-Object for PDO1
Data Type
Unsigned 32
Access modes RW
PDO Mapping No
Value Range -
Default Value 200h + Node-Id
Index
1400h Subindex 2
Name
Transmission Type
Description -
Data Type
Unsigned 8
Access modes RW
PDO Mapping No
Value Range -
Default Value 0FFh
Index
1400h Subindex 3
Name
Inhibit Time
Description -
Data Type
Unsigned 16
Access modes RW
PDO Mapping No
Value Range -
Default Value 0
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Page 17 of 17
Revision 1.39
May/19/2003