Siko AG06 - Th Transmit PDO (TPDO4); Transfer Types of the Transmit Pdos

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 40 of 114
3
rd
Transmit PDO
11/29 Bit Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
LSB
MSB
LSB
NSB
NSB
MSB
Status word (object
6041
h
)
Position value (object 6064
h
)
Table 18: 3
rd
Transmit PDO
9.3.5.3 4
th
Transmit PDO (TPDO4)
The fourth Transmit PDO contains 6 user data bytes on which the status word and the actual
velocity of the actuator is mapped. The Transmit PDO4 is transferred only by a RTR frame
(remote transfer request) as a standard, i. e., a higher-order control must request the TDO4
(polling). Synchronous transfer (value 0 to 240) can be set via the SYNC object or the time-
triggered transfer (value 255) by means of a local cycle (event timer) as an alternative to
polling.
The COB-ID of the fourth Transmit PDO is programmed to 480
h
+ Node-ID by default. The
communication parameters are set via the object 1803
h
(4
th
Transmit PDO parameter).
4
th
Transmit PDO
11/29 Bit Identifier
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
LSB
MSB
LSB
NSB
NSB
MSB
Status word (object
6041
h
)
Actual velocity (object 606C
h
)
Table 19: 4
th
Transmit PDO
9.3.5.4 Transfer types of the Transmit PDOs
Different transfer types can be set for the individual PDOs via objects 1800
h
until 1803
h
'Transmit PDO Parameter' sub-index 2 (see chapter 9.13.2: Description of objects).
Synchronous:
Sub-index 2 (transfer type) = 0:
The Transmit PDO is sent by the actuator upon receipt of each SYNC telegram.
Sub-index 2 (transfer type) = 1 ... 240:
The Transmit PDO is sent by the actuator only after receipt of the number of SYNC telegrams
indicated under 'transfer type'.
Asynchronous:
Event-Triggered: Sub-index 2 (transfer type) = 254
A PDO is transfmitted with every change of a mapped object and in a time-controlled way. The
Event Timer can be deactivated.
Time-Triggered: Sub-index 2 (transfer type) = 255
The PDOs are transferred time-triggered.