ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 99)

ƒ Entry description:
Access Read only
PDO mapping Yes
Value range 0…32
Default value 0
Object 0x2F20: PDO events
This object is used to select the events that cause asynchronous PDOs to be transmitted,
with transmission type 254. PDOs with other transmission types are ignored. Sub-indices
1 to 4 define events for transmitting TPDO1, TPDO2, TPDO3 and TPDO4, respectively.
The event definition for the PDO transmission is a bit field, as follows:
Bit Event
0
Motion complete: MS = 0
1 Main homing complete: HM[1] = 0
2 Auxiliary homing complete: HY[1] = 0
3 Motor shut down by exception: MO = 0
4 Motor started: MO = 1
5 User program “emit” command
6 OS interpreter execution complete
7 Digital input event according to object 0x2F23
8…30 Reserved
31 Binary
interpreter command processing complete
Asynchronous TPDOs obey the inhibit time restrictions, as explained in section 2.4 .
ƒ Object description:
Index 2F20h
Name PDO events
Object code ARRAY
Data type UNSIGNED32
Category Optional
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-22