Table des Matières
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POSITAPE
®
Manuel de montage et de mise en service
Sortie CANopen
Service Data Object (SDO) COB-Id
Service data objects (SDO) provide a peer to peer communication between master and slave. The
communication object identifier (COB) of the SDO is defined by the Node-Id.
SDO
Master to Slave
Slave to Master
Process Data Object (TPDO)
Real time data transfer is provided by Process Data Objects (PDO). The PDO mapping is fixed. The PDO
COB-Id is by default setting derived from the Node-Id (Predefined Connection Set) but may be changed to
application specific values by object PDO COB-Id 1800..1803 Sub-Index-1. DLC defines the length of the
data field.
COB-Id
DLC
180h
length
+ Node-Id
Transmission behaviour of TPDO-1, -2, -4 is configurable by object PDO Communication Parameter 1800,
1801, 1803 sub-indices -1, -2, -3 and -5.
Transmission type
example for TPDO-1
Cyclic Asynchronous
Change of State
Synchronous
Disable TPDO
Enable TPDO
Transmission type «cyclic asynchronous» triggers TPDO-transmission periodically with a time period defined
by the event timer.
Transmission type «change of state» will be enabled If the event timer is set to «0». This will trigger TPDO-
transmission on change of the position value where «Inhibit time» defines a minimum time delay between
consecutive TPDOs.
In «synch mode» a TPDO is transmitted on reception of a number of one or multiple SYNC commands.
Enable or disable a TPDO by setting Bit 31 of the COB-Id '0' resp. '1' (Default: «0» Enabled).
22
MAN-WB-F-16
COB-Id
600h + Node-Id
580h + Node-Id
Byte0
Data
Frame
max 8
Byte
COB-Id
Transmission Type
1800-1
N = 1 .. 240
80 00 xx xx
00 00 xx xx
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Data Frame
Inhibit Time
1800-2
1800-3
FEh
1 .. 07FFFh
FEh
1 .. 07FFFh
-
Default COB-Id
67Fh
5FFh
Byte7
Event Timer [ms]
1800-5
1 .. 07FFFh
0
-
-
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