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How to configure a PDO Transmit ?
Example :
- Configuring the PDO 0x1800 + n
- Its cobId must be 0x387 (why not ?)
- The PDO is transmitted on synchro
- It must contains the data : data X (2 bytes) and data Y (4 bytes) in this order
- dataX is defined at index 0x6000 subindex 03
- dataY is defined at index 0x2010 subindex 21
1 – Index 1800 + n, subindex 01 : write the cobId (4 bytes)
2 – subindex 02 : write the transmission type « t » (1 byte)
t = 1 to 0xF0 : The PDO is transmitted every reception of « t » SYNC
t = FD : Transmission after reception of a request PDO (rtr = 1)
t = FF : Transmission on event. The nodes sends the PDO spontaneously
3 – Index 1A00 + n : define the mapping of the nth data.
Subindex 0 : write the number of data embeded in the PDO (1 byte). For this example, write « 2 »
Subindex 1 : define where to find the first data embeded and the size. (8 bytes)
The format is : index (2 bytes) – subindex (1 byte) – size in bits (1 byte)
For this example, write « 60000308 »
Subindex 2 : define where to find the second data embeded an the size (8 bytes)
For this example, write « 20102120
To configure the PDO 1802 of the node 5 to be transmitted every 3 synchro,
the SDO(s) to send should be (I have not tested) :
605 23 02 18 01 00 00 07 38
605 2F 02 18 02 03 00 00 00
605 2F 02 1A 00 02 00 00 00
605 23 02 1A 01 08 03 00 60
605 23 02 1A 02 20 21 10 10
0
387
dataX
dataY
The PDO :
Note : a PDO may contains less than 8 bytes of data.
What is a PDO Transmited « on request » ?
It is a PDO which must be transmited when the node is receiving a remote transmit request (rtr) with the same COBID
than the PDO.
384
1
Example :
PDO request :
If the PDO with the COBID 384 is « on request », it must be transmited.