Optidrive Compact-2 Engineering Guide Issue 07.docx
9.3.1. PDO Default Mapping
Control command register*
254
Send after receiving
RX PDO 1
* Drive control can only be achieved when P-12=7 or 8 provided that P-31 = 0, 1, 4 or 5.
9.3.2. PDO transmission type
Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:-
The received data will be transferred to the drive active control
register when the next sync message is received.
The received data will be transferred to the drive active control
register immediately without delay.
For TX PDO, the following modes are supported:-
TX PDO will only be sent out if the PDO data has changed and
PDO will be transmitted on reception of SYNC object
TX PDO will be transmitted synchronously and cyclically. The
transmission type indicates the number of SYNC object that are
TX PDO will only be transferred once corresponding RX PDO has
been received.
TX PDO will only be transferred anytime if PDO data value has
changed.
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