Festo CiA 402 Manual page 26

3 CANopen access procedure
Object
Type of transmission
(transmission_type and
inhibit_time)
Transmit_mask_high and
transmit_mask_low
(Masking)
Tab. 3.5 Description of the Objects
The use of all other values is not permitted.
26
Comment
Which event results in sending (transmit PDO) or evaluation (receive
PDO) of a message can be determined for each PDO.
Value Meaning
00 – F0 SYNC message
h h
The numerical value specifies how many
SYNC messages have to be received before
the PDO
– is sent (T-PDO) or
– evaluated (R-PDO).
FE Cyclical
h
The transfer PDO is cyclically updated and
sent by the motor controller. The time
period is set by the object inhibit_time
Receive PDOs, in contrast, are evaluated
immediately after reception.
FF Change
h
The transfer PDO is sent when at least 1 bit
has changed in the data of the PDO.
With inhibit_time, the minimum interval
between sending two PDOs can also be
specified in 100 μs steps.
If "change" is selected as the transmission_type, the TPDO is always
sent when at least 1 bit of the TPDO changes. But frequently it is
necessary that the TPDO should only be sent when certain bits have
changed. For that reason, the TPDO can be equipped with a mask:
Only the bits of the TPDO that are set to "1" in the mask are used to
evaluate whether the PDO has changed. Since this function is
manufacturer-specific, all bits of the masks are set as default value.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Permitted
with
TPDOs
RPDOs
TPDOs
(RPDOs)
TPDOs