Object 1A00H: 1St Transmit Pdo Mapping Parameter; Object 1A01H: 2Nd Transmit Pdo Mapping Parameter - Pepperl+Fuchs Absolute Rotary Encoder Manual

Absolute Rotary Encoder
Programmable Parameters
Transmission Mode
The transmission mode can be configured as described below:
Transfer Value
(decimal)
0
1-240
241-251
252
253
254
255
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO transmission can be entered in this 16-bit field.
If data is changed, the PDO sender checks wether an "inhibit time" has expired since the last
transmission. A new PDO transmission can only take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous transmission (transmission mode 254 and 255) to
avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and
255). If the data changes before the "event timer" expires, a temporary telegram is sent. If a
value > 0 is written in this 16-bit field, the transmit PDO is always sent after the "event timer"
expires. The value is written in subindex 5 of a transmit PDO. The data transfer also takes place
with no change to data. The range is between 1 - 65536 ms.
9.5.22 Object 1A00h: 1
This object contains the mapping parameter of the 1
Subindex
0h
1h
Table 9.35
9.5.23 Object 1A01h: 2
This object contains the mapping parameter of the 2
Transmission Mode
Cyclic Acyclic Synchr. Asynchr.
x x
x x
reserved
x
st
Transmit PDO Mapping Parameter
Description Data Type
Number of sub Unsigned 8
indices
1st mapped object Unsigned 32
nd
Transmit PDO Mapping Parameter
RTR
only Notes
Send PDO on first Sync
message following an
event
Send PDO every x Sync
messages
x Receive SYNC message
and send PDO on remote
request
x Update data and send
PDO on Remote Request
x Send PDO on event
x Send PDO on event
st
transmit PDO.
Default Value Access
2 ro
60040020h rw
nd
transmit PDO.
Restore after
Boot up
yes
yes
45