Siko AG06 - Page 90

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 90 of 114
Format description sub-index 01
h
:
Bit 31
0 = PDO exists / is valid
1 = PDO does not exist / is not valid
Bit 30
0 = request via RTR frame enabled
1 = request via RTR frame disabled
Bit 29
0 = 11-bit identifier (CAN 2.0A)
1 = 29-bit identifier (CAN 2.0B)
Bit 28 - 11
if bit 29=1, bit 28 ... 11 of the 29-bit identifier
Bit 10 - 7
4 bit function code of the identifier
Bit 6 - 0
7 bit Node-ID of the identifier
Data description sub-index 02
h
:
0
synchronous: acyclic, PDO is sent after each SYNC message.
1 ... 240
synchronous: cyclic, PDO is sent after 1 … 240 SYNC messages received.
241 ... 251
reserved
252
reserved
253
asynchronous: only on request (RTR frame). PDO is sent immediately after
receipt of the RTR frame.
Notice! Must have been enabled via bit 30 of sub-index 1.
254
asynchronous: Event-triggered (with every change of a mapped object and
time-controlled).
255
asynchronous: time-triggered
PDO mapping:
See object 1A03
h
(4
th
transmit PDO mapping parameter).
Inhibit Time:
A send-inhibit time is specified by the 'Inhibit Time' parameter (only for transmitt type 254).
Resolution is a multiple of 100 µs. The actual send-inhibit time is inaccurate and can deviate
from the set value by several milliseconds.
Event Timer:
The 'Event Timer' parameter serves for setting a cycle time (in milliseconds) for time-triggered
transfer of the Transmit PDO4. The actual cycle time is inaccurate and can deviate from the
set value by several milliseconds.
Processing of PDOs:
Transmit PDOs are transferred in the NMT status 'OPERATIONAL' only.
Changing PDO parameters:
PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only.