Leuze electronic MSI 400 Series Manual page 130

• At least one input or output byte has changed its value and the transmission type for the TxPDO that
contains this byte has the value 255.
• At least one input or output byte has changed its value and the gateway contains a SYNC command
and at least one TxPDO has transmission type 0.
• When the transmission type is n = 1 ... 240, n sync commands are required in order to send the Tx-
PDO.
• The transmission type for a TxPDO is 254 or 255 and the event timer (SDO 1800,5 for TxPDO1) has a
value of N > 0. In this case this TxPDO is sent every N ms.
• A TxPDO can also be called up with the aid of a remote transmission request (RTR). This requires a
CAN telegram to the gateway that contains the CAN-ID of the desired TxPDOs with DLC = 0 and RTR
= 1.
The operating state of the device must be "operational" for all transmission methods (see Table "Network
management for all NMT slaves" [chapter 10.4]).
RxPDO 1...4
A receive-PDO transmits data from a CANopen device to the CANopen gateway.
Tab. 10.19: RxPDO 1...4
CAN ID DLC
201-1FF 8
301-2FF 8
401-3FF 8
501-4FF 8
B1...B32: CAN telegram bytes as for the gateway input data, with the aid of MSI.designer.
The transmission type 255 is preset for all RxPDOs. This means that the gateway immediately transmits
the RxPDO data on to the controller module. This setting cannot be changed.
Leuze electronic
Data
B1 B2 B3
B9 B10 B11
B17 B18 B19
B25 B26 B27
MSI 400
B4 B5 B6
B12 B13 B14
B20 B21 B22
B28 B29 B30
CANopen gateway
B7 B8
B15 B16
B23 B24
B31 B32
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