Leuze electronic MSI 400 Series Manual page 136

Tab. 10.29: Content of SDO 1800 ... 1803
Subindex Mapping
1 COB ID
2 Transmission type
5 Event timer
The transmission type for all TxPDOs to 255 (asynchronous mode, event-driven) has been preset.
The event timer contains the time in Ms for the cyclic transmission of the TxPDOs.
Transmission types for the TxPDOs
Tab. 10.30: Transmission types for the TxPDOs
TxPDO
1, 2, 3, 4
NOTICE
i
When the transmission type is set to an invalid value, an error code is generated (abort code
0030 0030h, invalid parameter value).
Synchronous: The 0 synchronous transmission type means that the TxPDO is only sent when a
sync command has been received, but only when data have changed. The synchronous
transmission types n = 1 ... 240 mean that the TxPDO is sent after the nth
sync command has been received.
Asynchronous, event-driven with change of state: The asynchronous transmission type 255 (without a
configured event timer) means that the TxPDO is sent each time
at least one input bit contained in this PDO has changed.
Asynchronous, event-driven by timer: The asynchronous transmission type 254/255 (with a
configured event timer) means that the TxPDO is sent each time the
event timer has run out, e.g. a value of 500 signals to the event timer that the
gateway sends the relevant TxPDO every 500 ms.
RTR, on request: Transmission type 253 means that the TxPDO can be requested with the aid of an RTR
(remote transmission request). This requires a CAN message to the gateway with DLC = 0, RTR = 1 and
the COB-ID of the TxPDO. The gateway then responds with the requested TxPDO.
SDO 1A00 ... 1A03: Mapping parameters for the TxPDOs
This SDO cannot be used, as mapping of the TxPDOs takes place with the aid of the MSI.designer.
Also see: Table "Pre-set for the content of the transmit process data objects (TxPDOs)" [chapter 10.8]
SDO 3100: Module state bits
SDO 3100 contains the module state bits of the MSI 400 system (see Table "CANopen Emergency Mes-
sages" [chapter 10.6]). Active bits are low (= "0").
Tab. 10.31: Content of SDO 3100
SDO array
3100.1-3
3100.4
...
Leuze electronic
Format
UDINT
SINT
UINT
Synchronous
0, 1...240
Data set parameters
Status of Module 0
Status of Module 1
...
Description
CAN identifier for this PDO,
write-protected
Defines when the PDO is
to be sent
in ms
Asynchronous
254, 255
MSI 400
CANopen gateway
RTR
253
Module Size
Controller mod- UDINT
ule
Expansion UDINT
... ...
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