Firmware ≤ 11.00 - DMS 8.0 EN - 10/2011 L 451
8400 StateLine C | Reference manual
System bus "CAN on board"
Process data transfer
10.8.3 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner.
The below table shows that it is possible to combine the different methods by means of
logic operations (AND, OR):
Event-controlled
The PDO is sent when a special device-internal event has occurred, e.g. when the data
contents of the TPDO have changed or when a transmission cycle time has elapsed
Synchronous transmission
A TPDO (or RPDO) is transmitted (or received) after the device has received a sync
telegram (COB-ID 0x80).
Cyclic transmission
The cyclic transmission of PDOs takes place when the transmission cycle time has
elapsed.
Polled via RTR
A TPDO is transmitted when another device requests it by means of a data request
telegram (RTR remote transmit request). For this purpose, the data requester (e.g. the
master) sends the data request telegram with the COB-ID of the TPDO requested to be
sent. The receiver recognises the RTR and transmits the corresponding PDO.
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