Transmission Type - Vacon OPTE6 User Manual

vacon • 16
3.5.3

Transmission type

Table 25: PDO transmission types
Value
0x00
0x01
0x02
0x03
0x04
...
0xF0
0xF1
...
0xFB
0xFC
0xFD
0xFE
0xFF
For receive PDO, each sync transmission mode equals the same. Each sync always activates the latest
1
received PDO value.
Synchronous means that the PDO is transmitted after the SYNC. The CANopen device starts
sampling the data with the reception of the SYNC. If the transmission mode of the PDO is acyclic,
the CANopen device gives an internal event, the sampling starts with the next SYNC and the PDO is
transmitted afterwards. If the transmission mode is cyclic, the sampling starts with the reception
of every SYNC, every second SYNC, every third SYNC etc. depending on the given value, and the PDO
is transmitted afterwards.
RTR-only means that the PDO is requested via RTR. If the transmission mode of the PDO is
synchronous, the CANopen device starts sampling with the reception of every SYNC and will buffer
the PDO. If the mode is event-driven, the CANopen device starts the sampling with the reception of
the RTR and transmits the PDO immediately.
Event-driven means that the PDO can be transmitted at any time based on the occurrence of the
internal event of the CANopen device. An event that triggers the OPTE6 transmission occurs when
the data mapped into the PDO is changed. Also, an event timer can be used to create transmit
events.
Inhibit time
For transmit PDOs, the inhibit time defines the minimum transmission interval, when 0xFE or 0xFF
transmission types are selected. For receive PDOs, the inhibit time is disabled. The inhibit time is
16bit unsigned value that is given as multiple of 100μs. Zero value means that the inhibit time is
disabled.
3
Description
Synchronous (acyclic)
Synchronous (cyclic every sync)
Synchronous (cyclic every 2
Synchronous (cyclic every 3
Synchronous (cyclic every 4
...
Synchronous (cyclic every 240
Reserved
...
Reserved
RTR-only (synchronous)
RTR-only (Event-driven)
Event-driven (manufacturer-specific)
Event-driven (device and application profile)
CANopen protocol description
Receive
PDO
X
X
1
X
sync)
nd
1
X
sync)
rd
1
X
sync)
th
1
X
1
X
sync)
th
1
-
-
-
-
-
X
X
Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205
Transmit
PDO
X
X
X
X
X
X
X
-
-
-
X
X
X
X