Operating instructions

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4.11.2 Operation modes process data channel

The transmit/receive behavior can be time controlled or controlled via a SYNC tele-

gram. The behavior can be parameterized for each PDO channel.

Tx-PDO’s can work time controlled or SYNC controlled. A time controlled TxPDO

transmits its data at the interval of time set. A SYNC controlled TxPDO transmits its

data after the arrival of a SYNC telegram.

RxPDO’s in the time controlled settin

forward the received data to the application

immediately. If an RxPDO has been defined as SYNC controlled, its forwards its re-

ceived data to the application after the arrival of a SYNC telegram.

Settings TxPDO1/2/3

Parameter Setting

No. Description Min. Max. Fact. sett.

931 TxPDO1 Time 1 ms 50000 ms 8 ms

933 TxPDO2 Time 1 ms 50000 ms 8 ms

935 TxPDO3 Time 1 ms 50000 ms 8 ms

The setting of the operation mode is done via the following parameters:

TxPDO1 Function 930, TxPDO2 Function 932 und TxPDO3 Function 934

Operation mode Function

0 -Not Active No data are sent.

1 -Controlled by time In the cycle of the adjusted time interval the data

are sent.

2 -Controlled by SYNC To arrival of a SYNC telegram the data are sent.

Settings RxPDO1/2/3

The setting of the operation mode is done via the following parameters:

RxPDO1 Function 936, RxPDO2 Function 937 und RxPDO3 Function 938

Operation mode Function

0 -Controlled by time The received data are passed on immediately.

1 -Controlled by SYNC After arrival of a SYNC tele

ram the received data

are passed on.

Note: In the "controlled by time” operation mode, there is a polling of the re-

ceived data with the trigger cycle of Ta = 1 ms.