Issue 01/05 Information for the CANopen master
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
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5.5 Timing of the PDOs
The process data of the CANopen option module are updated approx. every 8 ms.
This means, on one hand, that the CANopen master should only send a new
setpoint (reference) value telegram every 8 ms - but, on the other hand, for a non-
synchronous PDO transfer type, actual values are only updated and sent every 8
ms. Setpoints, that are sent in a shorter cycle than the 8ms, can be overwritten.
Only the last setpoint telegram before the data transfer between the CANopen
option module and MICROMASTER 420/430/440 is valid.
5.6 PDO properties in parameter "P2041"
Instead of using the usual CANopen mechanisms, the properties of the PDOs can
be set and checked using the indexed parameter P2041(object 27F9*).This
includes the PDO mapping and the PDO data transfer type. Further, in this
parameter, the behavior of the bus node for a Live Guarding Event, the baud rate,
the response of the CAN state machine to loss of communications (using object
1029H) and the response of the drive status machine to communications loss
(using object 6007H) are defined.
The possible settings are listed in the following tables.
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