ifm electronic RM9000 - Manual (Page 17)

UK
CANopen encoder
17
Index S-Idx Name Type,
access
default value Description
1801 2nd transmit
PDO
communication
parameter
The object contains the communication
parameters of the second transmit PDO�
Please note! This object is only activated
with C6 CANopen encoders�
0 Number of sub
indices
u8, ro 5
1 COB ID u32, rw 280h
node number
2 Transmission
mode
u8, rw 1
3 Transmission
mode
u32, rw 0
4 not available
5 Event timer u32, rw 1
The transmission mode is set and configured as follows:
Transmission mode
Value
(decimal)
Cyclical Acyclical Synchro-
nous
Asynchro-
nous
Only
RTR
Description
0 x x Transmit PDO to first
sync messsage after an
event
1���240 x x Transmit PDO every xth
sync message
241���251 reserved
252
x x Receive SYNC message
and transmit PDO on
remote request
253 x Data update and transmit
PDO on remote request
254, 255 x Transmit PDO with event
Inhibit time
For "transmit PDOs"� The "inhibit time" for PDO transmissions can be set as a
16-bit value� If data changes, the PDO checks if the inhibit time has elapsed since
its last data transmission� Another data transmission is only possible once the
inhibit time has elapsed� It is useful to set a time with asynchronous transmission
(transmission modes 254 and 255) to avoid overlaods on the bus�
Event time
The "event timer" only works in asynchronous transmission modes (transmission
modes 254 and 255)� If the data changes before the event timer elapses, a
temporary telegram is sent� If the value of the timer is >0, the data will be sent