8-35
Time of prohibition
The function of time of prohibition equals to PDO sending filtering program. When PDO input
data changes for the first time, this PDO data will be sent directly without any delay. After that, if PDO
changes again, PDO transmission will not be triggered immediately. Time of prohibition defines the
least time interval when sending two PDO with same CAN identifiers; this is to prevent too frequent
TPDO transmission which uses large bus bandwidth and thus effects bus communication. Meaning
after PDO is sent, the next PDO will be sent after one time of prohibition. Invalid when the parameter
is set as 0.
3. PDO mapping parameter
Mapping parameter includes object list in one object dictionary; there objects are mapped to the
corresponding PDO, including data length (unit: bit). PDO message content is pre-defined; if PDO
supports changeable PDO mapping, then this PDO can be configured through SDO. RxPDO provides
1600h~0x1603h; TxPDO provides 1A00h~0x1A03h. The user can choose one from each to use on PDO
mapping.
PDO mapping Preset PDO mapping object
1st PDO Mapping (preset open)
RxPDO1
(1600h)
Controlword
(6040h)
TxPDO1
(1A00h)
Statusword
(6041h)
2st PDO Mapping (preset close)
*RxPDO2
(1601h)
Controlword
(6040h)
Modes of operation
(6060h)
*TxPDO2
(1A01h)
Statusword
(6041h)
Modes of operation display
(6061h)
3st PDO Mapping (preset close)
RxPDO3
(1602h)
Controlword
(6040h)
Target Position
(607Ah)
TxPDO3
(1A02h)
Statusword
(6041h)
Position Actual Value
(6064h)
4st PDO Mapping (preset close)
RxPDO4
(1603h)
Controlword
(6040h)
Target Velocity
(60FFh)
TxPDO4
(1A03h)
Statusword
(6041h)
Velocity actual value
(606Ch)
Each set of PDO mapping can use data up to 32bytes or a maximum of 8 objects. If there are 8
objects already and byte data is under 32 bytes, the user still cannot add any mapping object.
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