Pixsys MCM260X - Transmit PDO Communication Parameter

Manuale d’uso - MCM260X - 55
11.1.21 Transmit PDO Communication Parameter
This object sets the communication parameters for the supported Tx PDO.
The default COB-ID of the PDO is set by the DS301 standard.
Index Subindex Name Type Default R/W
0x1800
0x1801
0x1802
0x1803
0
Number of
sub-indexes
Record 8bit unsigned 5 R
1 COB-ID Record 32bit unsigned
0x1800
0x180 +
Module-ID
0x1801
0x280 +
Module-ID
0x1802
0x380 +
Module-ID
0x1803
0x480 +
Module-ID
R/W
2 Type of transmission Record 8bit unsigned 255 R/W
3 Inhibit Time Record 16bit unsigned 50 R/W
5 Event Timer Record 16bit unsigned 0 R/W
Structure of the COB-ID:
Bit 31 Bit 30 Bit 29...11 Bit 0...10
0(valid) / 1(invalid) 0(RTR permitted) / 1(RTR not permitted) 0 Reserved COB-ID
Digital and analog inputs are transmitted in case of Change Of Value (COV). The transmission modes
are explained in the following table (RTR = Remote Transmission Request received):
Type of
transmission
PDO transmission
cyclic acyclic
synchro-
nous
asynchro-
nous
RTR only TxPDO (inputs) RxPDO (outputs)
0 X X
If COV is
transmitted with
each SYNC
It sets outputs
after each SYNC
as requested
by the last PDO
received
1...240 X X
Transmission
every i SYNC (i =
1...240)
It sets outputs
after each SYNC
as requested
by the last PDO
received
241..251 Reserved
252 X X
Data is still read
with the SYNC,
but not sent, as
requested by
RTR
Not supported
253 X X
Requested by
RTR
COV
254 X COV COV
255 X COV COV