Inovance H3U Series - Page 645

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9 Communication9.7.4 CANopen Conguration
● PDO enabling
You can check the box in front of the number to enable a PDO. The PDO in the EDS le that takes effect by
default should be checked rst.
● Editing PDO mapping
You can click
Add PDO mapping
,
Edit
, or
Delete
to edit PDO mapping.
● Setting PDO properties
Double-click a PDO. The following page is displayed.
COB-ID: Indicates the ID for sending a PDO parameter. Based on the CANopen DS301 protocol, default
COB-IDs are available for the rst four PDO parameters. COB-IDs must be different from each other,
ranging from 0x180 to 0x57F.
Transmission type:
Type Condition for Data Sending Condition for Valid Data
Loop-synchronization (type 0)
Data is changed, and a
sync frame is received.
Data does not take effect
immediately but takes effect
after a sync frame is received.
Loop-synchronization (types 1 to 240)
Data is sent after the
corresponding "number of
synchronizations" frame is
received.
Data does not take effect
immediately but takes effect
after a sync frame is received.
Asynchronization-only RTR (type 252) Not supported Not supported
Asynchronization-only RTR (type 253) Not supported Not supported
Asynchronization-specied by
manufacturers (type 254)
Manufacturer-dened Manufacturer-dened
Asynchronization-specied by the
conguration le (type 255)
Data is changed or the
event time is correct, and
the change cycle is shorter
than the suppression time.
Immediately
• When enabling a type of synchronization, you need to enable synchronous production on a station, usually the
master station.
The number of synchronizations takes effect after "loop-synchronization (types 1 to 240)" is selected.
The suppression time can be set after "asynchronization-specied by the conguration le (type 255)" is
selected. If the value is 0, the function is disabled. If the value is not 0, the suppression time is the minimum
interval for frame sending.