AKD CANopen | 6 CANopen Communication Profile
6.4.6.1 Transmission modes
The following PDO transmission modes are distinguished:
l Synchronous transmission
l Asynchronous transmission
The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives. Synchronous
PDOs are transmitted within a pre-defined time window immediately following the SYNC Object.
The transmission modes are set up with the aid of the PDO communication parameters.
6.4.6.2 Trigger modes
Three different trigger modes are distinguished:
l Event driven: The transmission of the telegrams is triggered by an object-specific event.
l Time driven: If event driven signals put a high strain on the bus, you can determine the period of time after
which a PDO can be transmitted again via the inhibit time (Communication parameter, Subindex 03h)
l Event Timer driven: If a PDO shall be sent within a defined time interval, even if it doesn’t change, this inter-
val can be defined by a special SDO.
38 Kollmorgen™ | November 2012
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