TDE MACNO MINIOPD EXP User Manual page 82

the 5 Sub-Index related to every type of TPDO are all managed : it is possible to set the transmission
type (see the following table), the inhibit time with 100 μ s resolution and the period of the event timer
with 1ms resolution
transmission type
0
1-240
241-251
252
253
254
255
Note: in the transmission type 255, it is possible to choose on which event the TPDO transmission
works. The event choice can be effectuated only during the compiling the software code.
The TPDO mapping can be dynamically effectuated by rightly configuring the following
communication objects:
st
1A00h 1 Transmit PDO Mapping parameter
nd
1A01h 2 Transmit PDO Mapping parameter
rd
1A02h 3 Transmit PDO Mapping parameter
th
1A03h 4 Transmit PDO Mapping parameter
the PDO mapping must be done by following these instructions:
1- the number of the mapped objects in Sub-Index 0 must be equal to zero
2- the addresses of all mapped objects must be configured
3- the correct number of mapped objects in the Sub-Index 0 must be
4.2.2.4 RECEIVED PDO
In our implementation a maximum of 4 RPDO can be configured with the following objects:
st
1400h 1 Receive PDO Communication parameter
nd
1401h 2 Receive PDO Communication parameter
rd
1402h 3 Receive PDO Communication parameter
th
1403h 4 Receive PDO Communication parameter
The first 2 Sub-Index related to each RPDO are managed: in this way it is possible to set the
transmission type:
transmission type
0-240
241-253
254
The RPDO mapping can be dynamically effectuated by rightly configuring the following
communication objects:
st
1600h 1 Receive PDO Mapping parameter
nd
1601h 2 Receive PDO Mapping parameter
rd
1602h 3 Receive PDO Mapping parameter
th
1603h 4 Receive PDO Mapping parameter
RPDO mapping must be executed by following the next directives as well:
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Synchronous: data are refreshed and transmitted with every
Synchronous and cyclical: the number indicates how many
two following transmissions
---------- reserved --------------------------
Data are refreshed and sent at the following RTR when the
Data are refreshed and sent when the RTR is received (remote transmission
request)
Event timer : cyclical transmission with a period time settable in ms in the Sub-
Index 5
Manufacturer specific : it is settable time by time
indicated
synchronous: when the following
the RPDO will be activated.
---------------------------- reserved --------------------------
Asynchronous: the values received in the RPDO are immediately activated.
PDO transmission
SYNC
SYNC
SYNC
PDO receiving
SYNC is received, the values received on
received.
are in between
is received