TECO JSDG2S-75B-E - Page 539

8-34
Transmission type Transmission type description Note
0
RPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. When RPDO data changes, RPDO
data is transmitted to the slave station and the data received from the
slave station becomes valid until receiving the next synchronous
message. When there is no change in RPDO data, the master station
does not transmit RPDO data to the slave station.
Synchronously
non-cyclic
TPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. When TPDO data changes, TPDO
data will be transmitted to the master station immediately and becomes
valid after the master station receives TPDO. When there is no change
in TPDO data, the slave station does not transmit TPDO data to the
master station.
Synchronously
non-cyclic
1
RPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. The master station transmits RPDO
data once every synchronous cycle; RPDO received by the slave station
will become valid until receiving the next synchronous message.
Synchronous
cyclic
TPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. The master station transmits TPDO
data once every synchronous cycle; TPDO received by the slave station
will become valid until receiving the next synchronous message.
Synchronous
cyclic
2
RPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. The master station transmits RPDO
data once every two synchronous cycles; RPDO received by the slave
station will become valid until receiving the next synchronous message.
Synchronous
cyclic
TPDO
The master station transmits one synchronous message to the slave
station every synchronous cycle. The master station transmits TPDO
data once every two synchronous cycles; TPDO received by the slave
station will become valid until receiving the next synchronous message.
Synchronous
cyclic
3~245
RPDO Analogize by transmission type 1 & transmission type 2
Synchronous
cyclic
TPDO Analogize by transmission type 1 & transmission type 2
Synchronous
cyclic
254,
255
RPDO
When RPDO data changes, RPDO data is transmitted to the slave
station and becomes valid after the slave station receives the data.
When there is no change in RPDO data, the master station does not
transmit RPDO data to the slave station.
Asynchronous
TPDO
When times of prohibition are all 0 and after TPDO data changes,
TPDO data is transmitted to the master station and becomes valid
immediately after the master station receives the data; when TPDO data
has no change, the slave station does not send TPDO data to the master
station. When either time of incident time or prohibition is not 0, the
slave station transmits TPDO data once every incident time (when
TPDO is transmitted once, it is not allowed to send again during time
of prohibition). When TPDO data changes, it will be transmitted to the
master station immediately and the data received by the master station
becomes valid right away.
Asynchronous