The Canopen Communication Object - Delta AS Series Operation Manual

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10.3.2 The CANopen Communication Object

The CANopen communication protocol contains the following communication objects.
1.
 The PDO provides the direct channel for the device application object, and transmits the real-time
 There are two kinds of uses for PDOs; data transmission and data reception. They are distinguished
 The PDO is described by the "producer/consumer mode". The data transmits from one producer to one
 Every PDO is described by two objects in the object dictionary: the PDO communication parameters
PDO (process data object)
data. It has high priority. Every byte in the PDO CAN message data list transmits data, and the
message usage rate is high.
by Transmit-PDOs (TxPDOs) and Receive-PDOs (RxPDOs). Devices supporting TxPDOs are called
PDO producers, and devices that receive PDOs are called PDO consumers.
or many consumers. The data that can be transmitted is limited to between 1-byte and 8-byte data.
After the producer transmits the data, the consumer does not need to reply to the data. Every node in
the network detects the transmitted data and decides whether to process the received data .
and the PDO mapping parameters
PDO communication parameters: the COB-ID used by PDO, the transmission type, the prohibition
PDO mapping parameters: the object list in an object dictionary. These objects are mapped into the
PDO, including the data length (in bits). To explain the contents of the
PDO, the producer and the consumer both have to understand the
mapping.
The PDO transmission modes: synchronous and asynchronous
Synchronous mode: synchronous periodic and synchronous non-periodic
Asynchronous: The producer transmits the PDO when the data changes, or after a trigger.
The following table lists supported transmission modes.
Type
Periodic
0
1 – 240 X
254
255
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time, and the counter cycle
PDO transmission
Non-periodic Synchronous
X X
X
Asynchronous RTR
X
X