CANopen Programmer's Manual - Maccon.de

1: Introduction CANopen Programmer’s Manual
PDO Examples
The designer has broad discretion in the use of PDOs. For example:
On the device designated as the SYNC message and time stamp producer, map a transmit
PDO to transmit the high-resolution time stamp message on a periodic basis. Map receive
PDOs on other devices to receive this object.
On each amplifier, map a transmit PDO to transmit PVT buffer status updates in interpolated
position mode. Map a receive PDO to receive PVT segments.
Another transmit PDO could transmit general amplifier status updates.
The Copley Controls CANopen Motion Libraries product (CML) uses these default mappings:
RECEIVE PDOs TRANSMIT PDOs
PDO Default mapping PDO Default mapping
1 IP move segment command (index 0x2010, p.
214). Used to receive the PVT segments.
5 High-resolution Time Stamp (index 0x1013, p. 47)
on the amplifier designated as the time-stamp
transmitter. CML programs this object with
transmit type 10 (transmit every 10 sync cycles).
The sync cycle is 10 milliseconds. Thus, the
timestamp is transmitted every 100 milliseconds.
4 Trajectory Buffer Status object (index 0x2012, p.
216). This is also used with transmission type
255. The PDO will be transmitted each time a
segment is read from the buffer, or on an error
condition.
5 High-resolution Time Stamp (index 0x1013, p. 47)
on all but the time-stamp transmitter.
2 Various status information:
Status Word (index 0x6041, p. 58), Manufacturer
Status Register object (index 0x1002, p. 60), and
Input Pin States (index 0x2190 p. 116).
CML programs this PDO to transmit on an event
(transmission type 255). This causes the PDO to
be transmitted any time an input pin changes or a
status bit changes. Note that Copley input pins
have a programmable debounce time, so if one of
the inputs is connected to something that might
change rapidly, then the debounce time can be
used to keep it from overloading the CANopen
network.
26 Copley Controls