Manual

5-4 Using I/O Messaging
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Table 5.A TPDO Summary
Table 5.B RPDO Summary
Understanding the I/O Image
The CANopen specification requires that the terms input and output be
defined from CANopen network’s point of view. Therefore, Output I/O is
data that is output from the CANopen network and consumed by the
CANopen adapter. Input I/O is status data that is produced by the adapter
and consumed as input by the CANopen network. The I/O image table will
vary based on:
• Size (either 16-bit or 32-bit) of the Reference/Feedback words and
Datalink words used by the drive. To determine the size of the
Reference/Feedback and Datalinks, view adapter Parameters 07 - [Ref/
Fdbk Size] and 08 - [Datalink Size]. For information to access
parameters, see
• Configuration of I/O (Parameter 12 - [DPI I/O Config]) in the adapter.
If any I/O is not enabled, the image table is truncated. The image table
always uses consecutive words starting at word 0.
The controller I/O image changes depending on the size of the drive’s
Reference/Feedback and Datalinks. Table 5.C
, Table 5.D, and Table 5.E
show the I/O image when using various PowerFlex 7-Class drives.
Triggering
Mode
Transmission
Mode
Param. 24 -
[PDO1 Trigger]
Transmission
Type
(1) (2)
(1)
Transmission types 241…251 are reserved.
(2)
The transmission type 255 - Asynchronous (Profile Event) is not used in this implementation.
Transmission Type Name
COS Synchronous COS 0
(3)
(3)
If transmission type 0 or 254 (COS and cyclic) is selected for TPDOs other than TPDO1, the TPDO will only be
transmitted on Remote Transmission Request.
Synchronous acyclic
Asynchronous COS 254
(3)
Asynchronous (Manuf. Event)
Cyclic Synchronous — 1…240 Synchronous cyclic
Synchronous Cyclic 0
(3)
Synchronous acyclic
Asynchronous Cyclic 254
(3)
Asynchronous (Manuf. Event)
RTR only Synchronous — 252 Synchronous RTR only
Asynchronous — 253 Asynchronous RTR only
Transmission
Mode
Behavior Transmission
Type
(1)
(1)
The transmission types 252 and 253 are not possible for RPDOs.
Name
Synchronous Data is passed to application
after next SYNC.
0 Synchronous acyclic
0…240 Synchronous cyclic
Asynchronous Data is passed to application
immediately.
254 Asynchronous (Manuf. Event)
255 Asynchronous (Profile Event)