66 EM-ABS-01 for ACU 03/12
7.11.2 Operation modes process data channel
The sending/receiving behavior can be time-controlled or controlled via a SYNC tele-
gram. The behavior can be parameterized for each PDO channel.
Tx-PDOs can work time-controlled or SYNC-controlled. Time-controlled TxPDO sends
its data at the set time intervals. A SYNC-controlled TxPDO will send its data once a
SYNC-telegram is received.
RxPDOs in the time controlled setting forward the received data to the application
immediately. If an RxPDO has been defined as SYNC controlled, it forwards its re-
ceived data to the application after the arrival of a SYNC telegram.
Settings TxPDO1/2/3
Parameters Settings
No. Description Min. Max. Factory set-
ting
931 TxPDO1 Time 1 ms 50000 ms 8 ms
933 TxPDO2 Time 1 ms 50000 ms 8 ms
935 TxPDO3 Time 1 ms 50000 ms 8 ms
The setting of the operation mode is done via the following parameters:
TxPDO1 Function 930, TxPDO2 Function 932 and TxPDO3 Function 934
Operation mode Function
0 - Not Active No data are sent.
1 - Controlled by time In the cycle of the adjusted time interval the data are
sent.
2 - Controlled by SYNC To arrival of a SYNC telegram the data are sent.
Settings RxPDO1/2/3
The setting of the operation mode is done via the following parameters:
RxPDO1 Function 936, RxPDO2 Function 937 and RxPDO3 Function 938
Operation mode Function
0 - Controlled by time The received data are passed on immediately.
1 - Controlled by SYNC After arrival of a SYNC telegram the received data are
passed on
Note: In the "controlled by time” operation mode, there is a polling of the re-
ceived data with the trigger cycle of Ta = 1 ms.
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