Datalogic AMT58 Series Manual page 312

AMT58x-CB CANopen®
PDO1 Cyclic mode: cyclic transmission
Encoder uses the PDO1 message to transmit the position value
cyclically, i.e. periodically and independently from the Master.
The interval between two issues is set in the object
time.
To activate (or deactivate) cyclic mode it is necessary to set to 0 (or
1) the most significant bit of COB-ID used by PDO1 (object
PDO1 parameters, sub 1).
PDO2 and PDO3 SYNC
Transmission of position value is managed by the Master by sending
a SYNC message.
SYNC message is a high-priority COB transmitted by the Master to
request the position value of the encoder.
If several nodes (encoders) are connected to the network, the Master
receives the position values from the slaves respecting the Node
number order.
The encoder can be programmed to send a reply after a set number
of SYNC messages by setting a counter.
The PDO message will be transmitted after having received the set
number of SYNC messages.
For PDO2 the value of the counter must be set in object
parameters, sub 2.
For PDO3 refer to object
SYNC transmission mode can be enabled (or disabled) by setting to
0 (or 1) the most significant bit (MSB) of COB-IB used by PDO
(object 1801 PDO2 parameters
PDO4 Cyclic mode: cyclic transmission
Encoder uses the PDO4 message to transmit the velocity value
cyclically, i.e. periodically and independently from the Master.
The interval between two issues is set in the object
time.
To activate (or deactivate) cyclic mode it is necessary to set to 0 (or
1) the most significant bit of COB-ID used by PDO4 (object
PDO4 parameters, sub 1).
NOTE
Several transmission modes can be active at the same time.
18
mode: synchronous transmission
1802 PDO3 parameters, sub 2.
/ 1802 PDO3
6200-00 Cyclic
1800
1801 PDO2
parameters, sub1).
6200-00 Cyclic
1803