Applied Motion ST10-C-CE - Manual (Page 92)

92 920-0025 Rev K
3/5/2015
CANopen User Manual
TPDO Transmission Types
There are several triggering options for Transmit PDOs, which are controlled by OD en-
tries 1800
h
to 1803
h
, and their associated sub-entries.
Possible TPDO Triggers
SYNC pulse - Node will send TPDO after receiving one or multiple SYNC pulses
Event/Timer - Node will issue TPDO based on an internal event or timer
Remote Request - Node will send TPDO after a remote request
Table 28: TPDO Transmission Types
PDO Mapping
The Applied Motion Products CANopen allows you to map objects to PDOs to allow for
the transfer of application data more efficiently. By using the PDO mapping, the user can map
multiple mappable Objects to a PDO, (max length for a PDO is 8 bytes). The following section
describes the process of a TPDO mapped to several objects.
Table 29: PDO Mapping
0 PDO transmitted on the next SYNC pulse after the statusword has changed
1 PDO transmitted on every SYNC pulse
2-240 PDO transmitted on every n SYNC pulses
254-255 PDO transmitted every time statusword changes, or the Event Timer has expired
TPDO Index Sub-Index Mapped To Index # Bytes
1A01
h
00
h
1A01
h
01
h
6041
h
2
1A01
h
02
h
700A
h
4