Pavone Systems DAT11 Technical Manual page 76

T_PDO COMMUNICATION PARAMETERS
Index Sub-Index
0
1
2
1800h
3
4
5
(*) PDO Transmission type:
00h = synchronous acyclic (PDO is transmitted following the receipt of SYNC, but only if a new mea-
surement has been acquired).
01h = synchronous cyclic (PDO is always transmitted after receiving SYNC).
FFh = asynchronous (default) (PDO is periodically transmitted according to the set time, setting "event
timer" to zero, transmission is disabled).
Other types of transmission provided by the CIA DS-301 are not supported.
T_PDO MAPPING PARAMETERS
Index Sub-Index
0
1A00h
1
2
Below is the sub-index structure from 1h to 6h.
Byte: MSB
Index (16 bit)
(*) The following default values are defined:
• Sub-index 0 = 6h.
• Sub-index 1 = 2001 0120h ( Index = 2001h, sub-index 01, 32 bit lenght).
• Sub-index 2 = 2002 0120h ( Index = 2002h, sub-index 01, 32 bit lenght).
Name
Sub-index number(5)
COB_ID used from PDO
(180h + Node_ID )
Transmission type PDO (*)
AI_T_PDO_CPAR
Inhibition time (0)
Reserved
Event timer (expressed in ms, default
8 ms)
Name
Number of "application objects"
mapped in the PDO (2)
T_PDO_MPAR1
Applic.Obj.map 1 (*)
Applic.Obj.map 2 (*)
sub-index (8 bit)
Description
Description
LSB
object lenghtr (8 bit)
Type Attribute
U8 R
U32 R
U8 R
U16 R/W
U8 R/W
U16 R/W
Type Attribute
U8 R
U32 R
U32 R
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