YASKAWA SI-S3 Technical Manual page 47

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Transmit PDO Configuration and Mapping
A transmit PDO can be configured by using the corresponding 18xx (Hex.) object, and the mapping can be
changed in the 1Axx (Hex.) object that belongs to the PDO.
■
PDO Configuration
Index (Hex.) Subindex
18xx
■
PDO Mapping
Index (Hex.) Subindex
1Axx
Note:
When changing the PDO mapping, always first set subindex 0 to "0", then set subindex 1 to subindex n. Then activate the mapping by
setting subindex 0 to the number of mapped objects n.
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Transmission Type FE (Hex.) for Transmit PDOs
When the transmission type of a TxPDO is set to FE (Hex.), the PDO is automatically transmitted whenever the
value in one of the mapped objects changes.
When this transmission type is used for a TxPDO that is mapped to an object with a Change of State filter, the
filter can be used to reduce the amount of data transferred if the object value changes quickly. Refer to
State Filter on page 47
If a large filter value is applied, then it can be helpful to also set an event timer for the PDO (18xx (Hex.),
subindex 5). In this way, the PDO is triggered cyclically even if the change in the value of the linked object does
not exceed the filter value. In this way, variations within the filter can still be seen without having a large number
of messages sent.
Note:
When a Change of State filter and an event timer are used simultaneously, the PDO will be triggered by whichever one is received first,
the timer event or the Change of State event. If the PDO is triggered by the Change of State event, the event timer will be reset.
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Change of State Filter
Note:
This function is available in option software 3102 and later.
Some Output objects of the Manufacturer Specific Profile support a Change of State filter. If such an object is
mapped to a TxPDOs with transmission type FE (Hex.) (Change of State), and the filter is set up, a Change of
State event is triggered (i.e., the PDO is transmitted) only if the change in the object value exceeds the filter value.
Such objects have the following structure and can be set up as explained below.
Index (Hex.) Subindex
2101, 2111,
2121, 2131,
2180 - 21E0, 2201
*1 Read/Write access when the option is in the Pre-Operational state. Read only access if the option is in the Operational state or if the
drive is running.
YASKAWA SIEP C730600 85D CANopen Technical Manual
Content
0 Largest subindex supported
1 COB-ID used by the TxPDO
2 Transmission type
Inhibit time (Set as a multiple of
3
100 us)
Event timer (Set as a multiple of 1
5
ms)
Content
0 Number of mapped PDOs
Data length, subindex, and index
1 - 40
of the object to be mapped
for more information. The filter must be set to a value that is different from FFFF (Hex.).
Content
0 Number of entries
1 Object value
MEMOBUS/Modbus address of
2
content
3 Filter value
4 Filter type
10 Process Data Objects (PDO)
Default Access
5 Read Only
see transmit PDO table
Read/Write
above
depends on PDO Read/Write
0 Read/Write
0 Read/Write
Default Access
see transmit PDO table
Read Only
above
see transmit PDO table
Read/Write
above
Access PDO Mapping
Read Only Not possible
Read Only Possible
*1
Read/Write Not possible
*1
Read/Write Not possible
*1
Read/Write Not possible
Data Length
1 byte
4 byte
1 byte
2 byte
2 byte
Data Length
1 byte
4 byte
Change of
Data Length
1 byte
2 byte
2 byte
2 byte
2 byte
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