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4.11.2
The transmit/receive behavior can be time controlled or controlled via a SYNC tele-
gram. The behavior can be parameterized for each PDO channel.
Tx-PDO's can work time controlled or SYNC controlled. A time controlled TxPDO
transmits its data at the interval of time set. A SYNC controlled TxPDO transmits its
data after the arrival of a SYNC telegram.
RxPDO's in the time controlled setting forward the received data to the application
immediately. If an RxPDO has been defined as SYNC controlled, its forwards its re-
ceived data to the application after the arrival of a SYNC telegram.
Settings TxPDO1/2/3
931 TxPDO1 Time
933 TxPDO2 Time
935 TxPDO3 Time
The setting of the operation mode is done via the following parameters:
TxPDO1 Function
Settings RxPDO1/2/3
The setting of the operation mode is done via the following parameters:
RxPDO1 Function
Note:
06/05
06/05
Operation modes process data channel
Parameter
No.
Description
930,
Operation mode
0 - Not Active
1 - Controlled by time
2 - Controlled by SYNC
936,
Operation mode
0 - Controlled by time
1 - Controlled by SYNC
In the "controlled by time" operation mode, there is a polling of the re-
ceived data with the trigger cycle of Ta = 1 ms.
TxPDO2 Function
932 und
No data are sent
In the cycle of the adjusted time interval the data
are sent
To arrival of a SYNC telegram the data are sent
RxPDO2 Function
937 und
The received data are passed on immediately
After arrival of a SYNC telegram the received data
are passed on
Setting
Min.
Max.
1 ms
50000 ms
1 ms
50000 ms
1 ms
50000 ms
TxPDO3 Function
934
Function
RxPDO3 Function
Function
Fact. sett.
8 ms
8 ms
8 ms
938
31
31
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