Wieland samos PRO COMPACT - Page 153

CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
153
Transmission types for the TxPDOs
Table 105: Transmission types for the TxPDOs
TxPDO
Synchronous
Asynchronous
RTR
1, 2, 3, 4
0, 1…240
254, 255
253
NOTICE
When the transmission type is set to an invalid value, an error code is generated (abort code
0030 0030h, invalid parameter value).
Synchronous:
The 0 synchronous transmission type means that the TxPDO is only sent when
a
sync command has been received, but only when data have changed. The synchronous
transmission types n = 1 ... 240 mean that the TxPDO is sent after the nth
sync command has been received.
Asynchronous, event-driven with change of state:
The asynchronous transmission type 255
(without a configured event timer) means that the TxPDO is sent each time
at least one input bit contained in this PDO has changed.
Asynchronous, event-driven by timer:
The asynchronous transmission type 254/255 (with a
configured event timer) means that the TxPDO is sent each time the
event timer has run out, e.g. a value of 500 signals to the event timer that the
gateway sends the relevant TxPDO every 500 ms.
RTR, on request:
Transmission type 253 means that the TxPDO can be requested with the aid
of an RTR (remote transmission request). This requires a CAN message to the gateway with
DLC = 0, RTR = 1 and the COB-ID of the TxPDO. The gateway then responds with the reques-
ted TxPDO.
SDO 1A00 … 1A03: Mapping parameters for the TxPDOs
This SDO cannot be used, as mapping of the TxPDOs takes place with the aid of the samos-
PLAN5+.
Also see: Table
"Pre-set for the content of the transmit process data objects (TxPDOs)" [ch.
10.8, p. 145]
SDO 3100: Module state bits
SDO 3100 contains the module state bits of the samosPRO system (see
Table "CANopen
Emergency Messages" [ch. 10.6, p. 140] ). Active bits are low (= "0").
Table 106: Content of SDO 3100
SDO array
Data set parameters
Module
Size
3100.1-3
Status of Module 0
CPU
UDINT
3100.4
Status of Module 1
Expansion
UDINT
…
…
…
…
3100.14
Status of Module 11
Expansion
UDINT
3100.15
Status of Module 12
Expansion
UDINT
NOTICE
The positions of the modules are numbered in the samosPLAN5+ from 0 to 14. Thus the sub-
index for SDO 3100 = Position + 3, with the first three sub-indices for the SP-COPx module
being used.
SDO 3100 can only be read.
SDO 3200: Config-CRC
SDO 3200 contains the system CRCs in UDINT format.