User guide

112
VTB USER GUIDE
Change PDO configuration
Now, let's see how we can change or add a PDO configuration in a slave device.
To change the PDO configuration, we can make a double-click on the required PDO, or select
“Modify → PDO Configure”
.
In the first row of the form that will appear, we can read the device name, then the PDO type-id.
The first property that can be setted, is the “modo”, mode, that define the PDO mode of work.
Working as “fast” the PDO will be send or received on every sample time.
Working as “slow”, can be useful to discharge the net traffic. When there is more then one slow PDO, on every sample
time will be send, from master to slave or vice versa, only one of this. Means
that if we have 3 slow PDO, we'll have all data updated only after 3 sample
times. Clearly, this mode can be used only with low rate changing data.
“Disabilitato”, disabled, means that the PDO will be disabled. It is useful to cut
out some ready configured PDO in a device, but the possibility to do that, must
be verified on the device manual.
“Non configurato”, not configured, leave the standard device PDO
configuration active. No change on this PDO, will be made by configuration function.
Last possibility is “Manuale” manual, means that the PDO declaration will be from another node, don't create a new
PDO. In this case, the Cob-id of the PDO, will be the same as the node that have the right configuration. This type of
work, will be explained better later (see 117)
Then, there is the possibility to set the number of byte that will be exchanged in this PDO, with a maximum of 8 as
standard, the Cob-id that is the index of the PDO in the net and will be created automatically by the software. As
mentioned talking about the mode, there are some cases where we have to set manually the Cob-id, but we will turn
back later on it.
In the right side of the form, we can see the data that are configured to be exchanged in the actual PDO and the
dimension in bits.
Here we have an object named cw 16 bits long and another object named qi 32 bits long.
PDO Type
PDO Property
Objects Configured
PDOs mode