Tpdo Transmission Types - WIKA MH-4-CAN Special Documentation

3. CANopen communication
Modify mapping by changing the values of the corresponding sub-indices, e.g.
■
change mapped object to 6130.1
ID DLC
601h 8
Enable mapping by setting sub-index 00h to the number of mapped objects (1).
■
ID DLC
601h 8
Set TPDO valid by setting bit "valid" to 0b (1800.1)
■
ID DLC
601h 8

3.4.3 TPDO transmission types

The PDO transmission types can be configured via objects 1800h/1801h subindex 2.
Synchronous transmission (cyclic, acyclic)
A transmission type of 0 means that the PDO is triggered acyclic when a SYNC
message is received and one of the mapped process data has changed its value after
the last transmission.
A transmission type of n (1 ... 240) means that the PDO is triggered cyclic with every
n-th SYNC message.
Asynchronous transmission
A transmission type of 254 means that the PDO is triggered after the event timer
elapses. The event timer can be configured via objects 1800h/1801h subindex 5.
A transmission type of 254/255 means that the message will be sent if the measured
value falls below or exceeds an adjustable limit and also if the measured value has
changed by more than a delta value compared to the last transferred measured value.
The interrupt limits can be configured via entries x133h/x134h/x135h/x136h.
WIKA special documentation, model MH-4-CAN
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
23h 00h 1Ah
Index
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
2Fh 00h 1Ah
Index
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
23h 00h 18h
Index
01h 20h 01h
00h 01h 00h
01h 81h 01h
30h 61h
Data
00h 00h
Data
00h 40h
Data
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