Pavone Systems DAT 700 Technical Manual page 52

FIELDBUS COMMUNICATION PROTOCOLS (CONTINUED)
CANOPEN - OBJECT DICTIONARY - COMMUNICATION PROFILE AREA (continued)
T_PDO COMMUNICATION PARAMETERS
Index Sub-Index
0
1
2
1801h
3
4
5
(*) PDO transmission type:
00h = synchronous acyclic (PDO is transmitted following receipt of SYNC, but only if a new
measurement has been acquired).
01h = synchronous cyclic (PDO is always transmitted following the reception of SYNC).
FFh = asynchronous (default) (PDO is transmitted periodically according to the set time, setting "event
timer" to zero disables transmission).
Other transmission types provided by the Cia DS-301 are not supported.
T_PDO PARAMETER MAPPING
Index Sub-Index
0
1
1A01h
2
3
4
The sub-index structure from 1h to 6h is shown below.
(*) The following default values are defined
• Sub-index 0 = 4h.
• Sub-index 1 = 2003 0120h (Index = 2003h, sub-index 01.32-bit length).
• Sub-index 2 = 2000 0110h (Index = 2000h, sub-index 01.16-bit length).
• Sub-index 3 = 2004 0108h (Index = 2004h, sub-index 01.8-bit length).
• Sub-index 4 = 2005 0108h (Index = 2005h, sub-index 01.8-bit length).
pag. 52
Name
AI_T_PDO_CPAR2
Name
T_PDO_MPAR2
Description
Number of sub-indexes (5)
COB_ID used by the PDO (280h + Node ID )
PDO transmission type
Inhibition time ( (0)
Reserved
Timer event (expressed in ms, default 8 ms)
Description
Number of "application objects" mapped
in PDO (4)
Applic.Obj.map 1 (*)
(*)
Applic.Obj.map 2
(*)
Applic.Obj.map 3
(*)
Applic.Obj.map 4
(*)
DAT700 Instrument User Manual
Type Attribute
U8 R
U32 R
U8 R
U16 R/W
U8 R/W
U16 R/W
Type Attribute
U8 R
U32 R
U32 R
U32 R
U32 R