Scaime eNod4-B - Page 29

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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
 Note 1: for RPDO1-2-3-4-5 and TPDO1, only the transmission types FF
H
and 00
H
are supported. That means
data are updated either immediately upon reception (FF
H
) or after next SYNC following the RPDO reception
(00
H
). For TPDO1, the FE
H
transmission type means that the TPDO1 is emitted by eNod4 every time it’s
mapped value changes. The 00
H
transmission type is similar but the emission is triggered by the reception of
a SYNC object.
Code
(hex)
cyclic
acyclic
(event)
synchronous
asynchronous
remote
transmit
request
Effect
00
X
X
X
X
X
X
PDO transmission/reception after a
SYNC message following one of these
events :
- activation of a logical input assigned
to ‘send TPDO’
- mapped object variation superior to
+/- delta
- Receipt of remote transmit request.
01 – F0
( = n)
X
X
X
X
X
X
PDO transmission after n SYNC
messages
- Or after receipt of remote transmit
request following at less one SYNC.
F1 - FB
reserved
FC
X
X
X
X
data update at reception of a remote
transmit request and PDO
transmission after reception of a
SYNC message
FD
X
X
X
X
data update and PDO transmission
at reception of a remote transmit
request
FE
X
X
X
X
PDO transmission is triggered by one
of these events :
- activation of a logical input assigned
to ‘send TPDO’
- mapped object variation superior to
+/- delta
- receipt of remote transmit request
more for TPDO2 and 3, functioning is
identical to code FF
FF
X
X
X
X
Periodic TPDO emission. Period can
be configured (min = 1 ms).
RPDO handled upon reception
TPDO emission after receipt of
remote transmit request