CANopen
6 Parameter setting
6-15
L BA2175 EN 2.0
To ensure that the process data to the controller are accepted, a special telegram, the sync
telegram, is required (see chapter 6.1.1).
For cyclic data processing, the sync telegram must be generated accordingly.
Process data synchronisation
The sync telegra is the trigger point for
• accepting data by the controller
• starting the sending process from the controller
PDO from controller PDO to controller
Sync-telegram
Sync-telegram
PDO to Controller
t
1
t
t
1
Fig. 6-2 Synchronisation of cyclic PDOs (seen from the bus participant’sview)
Note for Fig. 6-2: At t
1
all PDOs accept process data as soon as a sync telegram is received.
Tip!
SDOsor event-controlled PDOsare asynchronously accepted bycontrollers, i.e. aftertransmission
has been completed.
Asynchronous data have not been taken into account for the figure above.
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