8015416/ZPN2/2017-09-08 • © SICK AG • Subject to change without notice 87
Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
TPDOs AccordingtotheCiA301-specication,version4.2,theTPDOsaredened
as follows:
Value Description
00h Synchronous (acylical)
01h Synchronous (cyclically every SYNC query)
02h Synchronous (cyclically every 2nd SYNC query)
03h Synchronous (cyclically every 3rd SYNC query)
04h …
F0h
Synchronous (cyclically every 4th SYNC query)…
Synchronous (cyclically every 240th SYNC-request)
F1h … FBh Reserve
FCh Only RTR (synchronous)
FDh Only RTR (event-driven)
FEh Event-driven(manufacturer-specic)
FFh Event-driven(deviceproleandapplicationprolespecic)
Table 61: Overview of the TPDO transmission types
Synchronous For synchronous data transfer, the PDO is transferred after the SYNC query.
The CANopen device starts to determine data when receiving the SYNC
request.
In acylical and synchronous data transmission, an internal CANopen event
isspeciedanddatadetermiationisstartedwiththenextSYNCquery.The
PDO is then transferred.
For cyclical and synchronous data transmission, data determination is
started at receipt of every SYNC query, every second SYNC query or every
third SYNC query, etc. depending on the setting. The PDO is then trans-
ferred.
Only RTR For RTR data transfer, the PDO is transferred only after receipt of an “RTR
frame”.
For a RTR and synchronous data transfer, the CANopen device starts data
determination only when receiving a SYNX query. The PDO is saved.
For an RTR and event-driven data transfer, the CANopen device starts when
receiving a SYNX query. The PDO is transferred at once.
Event driven For an event-driven data transmission, the PDO may be transferred based
onaninternaleventintheCANopendevice.Thedenitionofeventsisnot
containedinthespecication.Eventsmaybespeciedindeviceproles
andapplicationproles.
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