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01/20/2017
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6 Communication profile
Generally there are two kinds of process data objects (PDO):
1. Transmit-PDOs (TPDO), to send data
2. Receive-PDOs (RPDO), to receive data
By the measuring system only Transmit-PDOs are supported, to transmit the actual
value or the speed value.
The TPDOs are described by the TPDO communication parameter 1800h-1802h and
the TPDO mapping parameter 1A00h-1A02h. The communication parameter
describes the communication capabilities of the TPDO and the mapping parameter
contains information about the contents of the TPDO.
6.1 Structure of the communication parameter, 1800h-1802h
Sub-index 0 contains the number of valid object entries.
Sub-index 1 contains the COB-ID of the TPDO:
31
30
29
28
11 10
0
Valid
RTR
Frame
0 0000h
11-Bit CAN-ID
MSB
LSB
Bit(s)
Description
Valid
0: PDO exists / is valid
1: PDO does not exist / is not valid
RTR
0: Remote Frame allowed on this PDO
1: no Remote Frame allowed on this PDO
Frame
0: 11-Bit CAN-ID valid, CAN base frame
1: 29-Bit CAN-ID valid, CAN extended frame (not supported)
11-Bit CAN-ID
11-Bit CAN-ID of the CAN base frame
Sub-index 2 defines the transmission character of the TPDO:
Value
Description
01h
Actual value is transferred synchronously over a remote frame or
SYNC telegram
02h
Actual value is transferred synchronously over a remote frame or
cyclically after each 2. SYNC telegram
03h
Actual value is transferred synchronously over a remote frame or
cyclically after each 3. SYNC telegram
…
…
F0h
Actual value is transferred synchronously over a remote frame or
cyclically after each 240. SYNC telegram
FDh
Actual value can be transferred only over a remote frame
FEh
Actual value is transferred asynchronously with the timer value from
object 6200h (object 1800h) or sub-index 5 (objects 1801h, 1802h)
