Delta AS Series Operation Manual page 380

A S S e r i e s O p e r a t i o n M a n u a l
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PDO Mapping:
RxPDO1: mapping parameter P1-09; transmission type 255.
RxPDO2: mapping parameter P3-06, P4-07; transmission type 255.
TxPDO1: mapping parameter P0-09; transmission type 1.
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PDO transmission type :
PDOs can be classified into RxPDO or TxPDO. RxPDO data are sent from master to slave and TxPDO
data are sent from slave to master.
The PDO transmission types can be synchronous or asynchronous. In synchronous transmission, the
master sends out the SYNC message in a fixed cycle. You set the length of the cycle in the Master
Properties dialog box (default is 50ms). In asynchronous transmission, the message is sent out when
the PDO mapping parameter changes.
The following table describes the PDO Transmission types.
（N:1–240）
_10
1 0 - 3 6
Transmission Type
RxPDO
0
TxPDO
RxPDO
N
TxPDO
254 RxPDO
Description
When any change in the mapped data happens,
RxPDO data is sent out immediately. The data
the slave receives is valid only when receiving
the next SYNCH message. RxPDO data is not
sent out if there is no change in the data.
When any change in the mapped data happens
and the slave receives the SYNC message, the
data are sent out immediately. The TxPDO data
are valid immediately after master receives them.
TxPDO data is not sent out if there is no change
in the data.
After N messages are sent out, and regardless of
whether the mapped data changes, the data that
the slave receives is valid only when receiving
the next SYNCH message.
After N messages are sent out and regardless of
whether the mapped data is changed, the data
that the master receives is valid at once.
The mapped data is sent out immediately when it
changes and is valid when the slaves receives it.
RxPDO data is not sent out if there is no change
in the data.
Remark
SYNCH
non-cycle
SYNCH
cycle
ASYNCH