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