D301087 0308 - BL20 CANopen 4-23
Transmission of Process Data Objects (PDO)
4
Transmission Type
The Transmission type determines under which circumstances a
PDO can be transmitted or received.
The following PDO Transmission types are supported by BL20:
Type 0 (sync, acyclic)
Type 1 (sync, cyclic)
Type 253 (remote request)
Type 255 (event-driven)
Type 0
The PDO will always be transmitted (TPDO) or evaluated (RPDO) if
this is permitted by a Sync-Frame transmitted by the SYNC
producer and the mapped contents of the BL20-CANopen gateway
have changed since the last transmission.
Type 1
Immediately after receiving each Sync-Frame, the BL20-CANopen
gateway puts out the mapped contents as a PDO on the network,
even if they have not changed since the last transmission.
Type 253
The PDO is only transmitted if a transmitted Remote-Frame
requests this from the BL20-CANopen gateway.
Table 4:
Transmission type
of BL20
Transmis-
sion type
PDO transmission
cyclic acyclic synchr. asynchr. only with
RTR
0
× ×
1 × ×
253 × ×
255
×
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