BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-24
Type 255
In this mode of operation, the BL20-CANopen gateway does not
depend on any Sync or Remote-Request for PDO communication.
Whenever this is envisaged for an internal event within the BL20-
CANopen gateway, the gateway will transmit a PDO to the
CANopen network.
The Transmission types of the individual PDOs are independent,
which means that a freely mixed operation with synchronous and
asynchronous PDOs is possible.
Inhibit Time
The setting of an Inhibit time for the PDOs (Object 1800
hex
ff, Sub-
Index 03
hex
) is only supported for TPDOs. Unlike the other time
values, which are given as multiples of 1 ms, the Inhibit time is
defined as a multiple of 100 μs. However, since the time resolution
of the system clock in the BL20-CANopen gateway is 1 ms, Inhibit
time values below 10 x 100 μs are pointless.
Event Timer
The Event timer (Object 1800
hex
ff, Sub-Index 05
hex
) defines the
maximum interval after which a TPDO will be transmitted, even
though no event has occurred. This means that the Event timer
determines the maximum interval between two transmissions of a
TPDO.
The expiry of the interval set for the Event timer is detected as an
event. If any other event occurs, the Event timer is reset and
restarted.
The value of the object is interpreted as a multiple of 1 ms.
Attention
The following Transmission type (Type 255) is only permissible for
TPDOs.
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