11.4 Option
11-109
Chapter 11 SELECTING PERIPHERAL EQUIPMENT
Communications
The communications card is a slave of CANopen and supports the following services.
Table 11.4-89
Item Services Remarks
PDO
3 RPDOs/3 TPDOs
TPDO supports Sync, Cyclic and Async
All PDO cannot be remapped
SDO Expedited and Segmented protocol supported
Only Default SDO supported
Block protocol not supported
Emergency
(EMCY) Object
EMCY Producer
EMCY Consumer not
supported
Network
Management
(NMT)
NMT Slave (DS-301 state machine)
Guarding
Heartbeat Producer
Heartbeat Consumer
Boot-up Protocol
NMT master not supported
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