User`s manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual
C27750-001 PAGE 6-13
6.8 Process Data Objects (PDO)
The drive supports up to 4 receive and up to 4 transmit Process Data Objects (PDOs). The contents can be specified
using PDO mapping. The granularity of the PDO mapping is a byte.
All the PDO settings can only be changed in the pre-operational state. See 'Network Initialisation and System
Bootup' for further information.
6.8.1 Communication Object Identifier
The communication object identifier (cob-id) of the PDO can be modified using the parameters pdo_xxxx_cob-id
.
After setting the node-id, all PDOs have a default cob-id according to the DS 301 pre defined connection set. The
receive PDO cob-ids have a value of 0x200 + n * 0x100, where n is the number of the PDO from 0..3. The transmit
PDO cob-ids have a value of 0x180 + n * 0x100, where n is the number of the PDO from 0..3.
Note that when changing the cob-id, the PDO has to be disabled first by setting the highest bit before the cob-id can
be modified. When changing the node-id, all values are reset to the pre defined connection set settings.
6.8.2 Transmission Type
The behaviour of the PDO can be set using the parameters pdo_xxxx_transmission_type
. Normally values between
1 and 240 are synchronous PDOs that are transmitted every pdo_xxxx_transmission_type
synchronisation events
(see 'Synchronisation Objects' for further information).
Remote Request PDO transmission types 252 and 253 are not supported.
Asynchronous receive PDOs are possible using transmission type 255. In this case, the new data values in the PDO
are in effect immediately after reception.
For transmit PDOs the transmission type 255 is event driven, that means that any change in the drive status word
will trigger the PDO transmission.
6.8.3 PDO Inhibit Time
The inhibit time can only be set for transmit PDO’s. The parameter pdo_xxxx_inhibit_time
specifies the minimum
time interval between successive transmissions of the PDO message in multiples of 100μs. If this parameter is 0 then
there is no minimum time interval between successive transmissions.
The default value for this parameter is 0.
6.8.4 PDO Event Time
The event time is valid for transmit and receive PDO’s. The parameter pdo_xxxx_event_time
is specified in
multiples of 1ms and has a default value of 0.