West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 12)

KS 800 CAN-Interface
3.3 PDO transfer behaviour
3.3.1 Asynchronous send PDO
When a PDO is configured as an asynchronous PDO, a PDO is sent with status-information-
resp. Ypid- changes of a channel. The message order is: checking whether sending is necessary
starts with the first channel. If a change-of-state is detected (flag fSendEvent set), a PDO is
generated, sent and the flag is reset. After successful sending, the next channel is handled. If
the two send PDOs are configured as asynchronous PDOs, two channels are checked and sent
simultaneously.
Example:
Channel 1:
fSendEvent = TRUE
→
send PDO for channel 1
Channel 2: fSendEvent = FALSE
Channel 3: fSendEvent = TRUE
→
send PDO for channel 3
Channel 4: fSendEvent = FALSE
Channel 5: fSendEvent = FALSE
Channel 6: fSendEvent = FALSE
Channel 7: fSendEvent = TRUE
→
send PDO for channel 7
Channel 8: fSendEvent = FALSE
Channel 1: fSendEvent = FALSE
An asynchronous PDO is always sent by KS800 with status bit change-of-state or changing of
Ypid. In default configuration, the message sent by KS800 is:
Message from KS800 (ASYNC-PDO):
8 data bytes
COB-ID LEN Channel Xeff Dev. st. Channel st. Ypid
0x180 +node 8 0x05 0xBC 0x02 0x00 0x00 0x42 0xF4 0x01
⇒
Xeff = 0x02BC = 700 = 70,0
°
C
⇒
Device Status = 0x00 = keine Fehler
⇒
Channel Status = 0x4200 = Coff = 1, Wint = 1
⇒
Ypid = 0x01F4 = 500 = 50%
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