304 ADV200 • Appendix
Each communication cycle the block accesses the CAN peripheral device to check the PDOs sent by the slave
(TPDOs) and copy these, and then writes the RPDOs to be sent.
Sync
RPDO
TPDO
Sync
TPDO
Sync
TPDO
Read/Write
RPDO
Read/Write
RPDO
Read/Write
1ms(Task1)
Each communication cycle sends a Sync message, to which the slave must immediately reply with its PDOs. If
the slave does not send the PDOs this is interpreted as a loss of communication owing to the generation of an
“ExtIO fault” alarm and switching of parameter 5484 “External IO state” from Off to On. The loss of communi-
cation is detected after a maximum time equal to twice the communication cycle from the last time value data
were received.
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