Download CANopen Communication Protocol

3
Description of
elements
Description of
format
Subindex 01h
Description of
data
Subindex 02h
Object Dictionary DS 301
Subindex
03h
Description
PDO inhibition time
Access
rw (read/write)
PDO mapping
No
Unit
multiples of 100 microseconds
Interval of values
Unsigned16
Preset value
0
Recordable
Yes
Subindex
05h
Description
Event time interval
Access
rw (read/write)
PDO mapping
No
Unit
milliseconds
Interval of values
Unsigned16
Preset value
0
Recordable
Yes
Bit 31
0 = PDO valid
1 = PDO not valid
Bit 30
0 = RTR allowed on this PDO
1 = RTR not allowed on this PDO
Bit 29
0 = 11-bit identifiers (CAN 2.0A)
1 = 29-bit identifiers (CAN 2.0B)
Bit 28 - 11
if bit 29=1, identify bits 28-11 of the 29-bit
Bit 10 - 0
Bits 10-0 of the COB-ID
0
synchronous acyclic, data updated on previous SYNC
1,...,240
synchronous cyclic, data updated on previous SYNC
241,...,251
reserved
252
synchronous on request, data is updated on previous
SYNC
253
asynchronous on request, data is updated immediately
on SYNC
254
asynchronous: identical to value 255
255
asynchronous transmitted simultaneously to variation of
one of the mapped objects or on expiry of the Event
Timer (preset)
The parameter Inhibit Time represents the minimum time (in steps of 100 microseconds) between
two successive PDO transmits.
The parameter Event Timer involves a fixed time PDO transmit (prescribed by the parameter in
milliseconds) even if the values of the mapped objects have not changed. The PDO transmit will
only take place in NMT OPERATIONAL state. The PDO communication parameters can only be
changed in NMT PRE-OPERATIONAL state.
DS301-en.fm (14-05-07)
CNI Engineering
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