Kollmorgen S300

3.4.6.1 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. Syn
-
chronous 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.
3.4.6.2 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, sub-in
-
dex 03
h
)
l
Event Timer driven
If a PDO shall be sent within a defined time interval, even if it doesn’t change, this interval can
be defined by a special SDO.
CANopen for S300/S700 23
Kollmorgen 11/2018 CANopen communication profile
SYNC
SYNCSYNC
Synchronous
Asynchronous
time
Synchronous
PDOs
Length
PDOs
Object
Window
Object Object