Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 33
- Page / 118
- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
5.3.1 The Mapping Trigger – Transmission Type
The transmission of a TPDO and RPDO is triggered by an event, which is defined by the
PDO communication parameters: sub-index 2 of objects 0x1800 to 0x1803 (TPDO) and
sub-index 2 of objects 0x1400 to 1403 (RPDO). These object dictionary entries are
transmission types. The data type of the PDO parameter object is described in object
0x20.
PDO transmission types can be one of the following:
Transmission Type Description
0 Synchronous transmission performed once, at next SYNC.
N=1…240 Synchronous transmission performed once per 0 < N ≤ 240
accepted SYNC signals.
254 Asynchronous transmission in response to a manufacturer-
specific event.
255 Asynchronous transmission in response to a device profile (such
as DSP 402).
The Elmo drive treats type 254 and 255 alike.
5.3.2 The Synchronous Trigger
Synchronous triggers are always related to the previous SYNC reception.
The RPDO transmission type is 1. The received message is buffered but actually
transmitted for execution at the next SYNC message. Only one RPDO can be buffered for
synchronous trigger. If another RPDO arrives before the SYNC, it overrides the previous
RPDO without any notification. This method enables the simultaneous synchronization
of executing commands in several drives. When a SYNC arrives, the buffered message is
performed in the next available background cycle (Idle loop). Elmo fast reference objects
(0x2001-0x2004) are executed immediately after reception regardless of transmission
type.
With TPDOs, the message is transmitted according to transmission type value, which can
range from 1 to 240, where 1 indicates on each single SYNC, 2 means every second SYNC
message, and so on.
Note: Objects can receive data from SDOs and RPDOs simultaneously. Be aware
that when this occurs, the results are unpredictable. The final value of the object
may be either the SDO or the RPDO data.
CANopen DS 301 Implementation Guide Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
5-4
- Elmo Motion Control 1
- CANopen DS 301 1
- Implementation Guide 1
- Important Notice 2
- Contents 3
- Chapter 1: Introduction 6
- 1.1.2 CAN Documentation 7
- SimplIQ Communication 8
- SimplIQ Communication Types 9
- Chapter 2: CANopen Basics 10
- 2.6 Object Dictionary 11
- 2.4 Inhibit Times 11
- 2.7 Communication Objects 12
- SimplIQ Servo Drives 12
- 4.2 Download SDO Protocol 23
- 4.8 Error Correction 28
- 5.1 Receive PDOs 30
- 5.2 Transmit PDOs 32
- 5.3 PDO Mapping 32
- 5.3.4 RPDO Error Handling 34
- 5.3.6 Default Values 36
- Chapter 6: Emergency (EMCY) 38
- 9.1.1.1 RPDO2 Structure 44
- 9.1.1.1 TPDO2 Structure 46
- 9.1.2 Execute Command 47
- Execute OK 50
- Chapter 11: The EDS 51
- MSB LSB 52
- Additional information 52
- Manufacturer-specific 54
- Error register 54
- Bits 31 30 29 28 - 11 55
- 11-bit ID X 0/1 0 55
- MSB LSB 58
- “e” “v” “a” 58
- 65H 76H 58
- “d” “a” “o” 59
- 64H 61H 59
- 11-bit ID 0/1 0/1 0 60
- 29-bit ID 0/1 0/1 1 60
- 11-bit ID 0/1 0 0 62
- 29-bit ID 0/1 0 1 62
- SimplIQ Software Reference 80
- SimplIQ 92
- MAN-CAN301IG (Ver. 2.1) 100
- 0x10000000 0x8381 0x81 104
- 0 0 0 0 1 1 0 0 0 0 0 1 107
- T Stamp master 109
- 16.1 Setup Using RS-232 116
- 16.2 Bootup Protocol 117
Produits connexes et manuels pour Matériel Elmomc CANopen DS 301 Implementation Guide
(20 pages)Pioneer AVIC S2 manuels
Manuels d'utilisation et guides de l'utilisateur pour Systèmes de navigation pour voitures Pioneer AVIC S2.
Nous fournissons des manuels en pdf 1 Pioneer AVIC S2 à télécharger gratuitement par type de document : Manuel de l'utilisateur
Commentaires sur ces manuels