Selecting What Data Is To Be Sent (Tpdos) And Error Codes - ECM pmCAN Module Instruction Manual

Selecting What Data is to be Sent (TPDOs) and Error
Codes
Data sent from pmCAN modules is packaged as TPDOs (Transmit Process Data Object).
Each TPDO contains two pieces of data and each module can send up to four TPDOs. All
selected TPDOs will be sent at the broadcast rate. For example, if the broadcast rate is 5 ms
and four TPDOs were selected to be sent, then eight pieces of data would be transmitted
every 5 ms. To avoid slowing down the effective data rate on the CAN bus, select the
number of TPDOs to be sent and the broadcast rate sparingly. For the case of multiple
modules sending multiple TPDOs on the same CAN bus, the minimum (i.e. fastest) broadcast
rate is given by:
Minimum Broadcast rate (ms) = The total number of TPDOs for all modules x 0.3125
For example, if there are eight modules, each sending two TPDOs, the minimum broadcast
rate is 5 ms.
The data transmitted is selected in the "Data" area of the Configuration Tool. Activate the
number of TPDOs to be used by clicking in its box to put in a check mark. Select the data
contained in each TPDO using the pull-down windows. The list of available parameters for
the pmCAN module is given in Table 2.
Parameters PM and PN should be used for PM mass and number densities (not PMR and
PNR). This is because the Zeros, Spans, and Delta Tables act on PM and PN, not PMR and
PNR.
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