BEI Sensors THK5 - Manual (Page 18)

POSI+ CANOPEN USER MANUAL
Page 18 Version 1.02
BEI IDEACOD SAS
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Transmission mode
The PDO transmission mode can be configured as described in the table below.
Transmission code
Tranfer
code
Cyclic Acylic Synchronous Asynchronous RTR only
Notes
0 x x
Send PDO on first Sync
message following an event
1 to
240
x x
Send PDO every n (n=0…240)
Sync messages
241 to
251
Reserved -
252 x x
Update data immediately
after Remote request and
send PDO on next SYNC
message
253 x x
Update data and send PDO
on Remote Request
254 x
Send PDO on manufacturer-
event
255 x Send PDO on encoder -event
COB-ID Structure
The structure of a COB-ID for CAN2.0 is shown in the following table:
Bit No. Value Meaning
0 The PDO object exists
31 (MSB)
1 The PDO object doesn’t exist
0 RTR mechanism authorized
30
1 RTR mechanism unauthorized
29 0 11-bit ID (CAN 2.0A)
28-11 0 If bit 29 = 0
10-0 (LSB) X Bit 10-0 of the identifier
Inhibit Time (Sub-index 3)
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If
data is changed, the PDO sender checks whether an "inhibit time" has expired since the last
transmission. A new PDO transmission can only take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous transmission (transmission mode 254, 255), to avoid
overloads on the CAN bus. The "inhibit time" is a multiple of 100µs of object 1800sub03/1801sub03.