📄 can in automation (cia) - canopen protocol - process data object (pdo).htm
字号:
height=23 alt=O
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/downloads.gif"
width=129 border=0></A></TD></TR>
<TR>
<TD><A id=refL152
onmouseover="moveLayerY('L152', 12) ; popUp('L152');"
href="http://www.can-cia.org/press/"><IMG height=23
alt=O
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pressroom.gif"
width=129
border=0></A></TD></TR></TBODY></TABLE></DIV></TD></TR></TBODY></TABLE><!-- vertical menu end --></TD>
<TD class=layout vAlign=center align=right width=17
bgColor=#009966><IMG height=184
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=17 border=0></TD></TR></TBODY></TABLE>
<TABLE class=layout cellSpacing=5 cellPadding=3 width=144 border=0>
<TBODY>
<TR>
<TD class=layout vAlign=center align=middle><IMG height=20
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=130></TD></TR>
<TR>
<TD class=layout vAlign=center align=middle>
<TABLE class=layout cellSpacing=0 cellPadding=1 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=#009966>
<TABLE class=layout cellSpacing=0 cellPadding=0 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=white><A
href="http://www.can-cia.org/ad/link/793/button//canopen/"
target=_blank><IMG
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/ifm_117x60_d4_a.gif"
border=0></A></TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE></TD></TR>
<TR>
<TD class=layout vAlign=center align=middle><A
href="http://www.can-cia.org/canopen/railway/" target=_blank><IMG
height=72
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/railway2005.gif"
width=117 border=1></A></TD></TR>
<TR>
<TD class=layout vAlign=center align=middle>
<TABLE class=layout cellSpacing=0 cellPadding=1 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=#009966>
<TABLE class=layout cellSpacing=0 cellPadding=0 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=white><A
href="http://www.can-cia.org/canopen/lift"><IMG
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/lift_logo_web.gif"
border=0></A>
</TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE></TD></TR>
<TR>
<TD class=layout vAlign=center align=middle>
<TABLE class=layout cellSpacing=0 cellPadding=1 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=#009966>
<TABLE class=layout cellSpacing=0 cellPadding=0 border=0>
<TBODY>
<TR>
<TD class=layout bgColor=white><A
href="http://www.can-cia.org/cleanopen/"><IMG height=60
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/clean_button.gif"
width=117 border=0></A>
</TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE></TD>
<TD class=layout width=1 bgColor=#009966><IMG
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=1 border=0></TD>
<TD class=layout vAlign=top align=left>
<TABLE class=layout cellSpacing=0 cellPadding=5 border=0>
<TBODY>
<TR>
<TD class=layout>
<TABLE class=layout cellSpacing=0 cellPadding=0 border=0>
<TBODY>
<TR>
<TD class=layout vAlign=center align=right colSpan=2>
<TABLE class=layout cellSpacing=0 cellPadding=3 width="100%"
border=0>
<TBODY>
<TR vAlign=center>
<TD class=layout align=left><A
href="http://www.can-cia.org/login.php"><SPAN
style="FONT-WEIGHT: bold; FONT-SIZE: x-small; COLOR: darkblue; FONT-STYLE: italic; FONT-FAMILY: Arial,Helvetica,Geneva">Login</SPAN></A></TD>
<TD style="TEXT-ALIGN: right; align: right"
align=right><CSOBJ cl="/images/menu/contact.gif"
ht="/images/menu/contact-over.gif" t="Button" h="23"><A
onmouseover="return CSIShow(/*CMP*/'contact',1)"
onclick="CSIShow(/*CMP*/'contact',2);return CSButtonReturn()"
onmouseout="return CSIShow(/*CMP*/'contact',0)"
href="http://www.can-cia.org/contact/"><IMG height=23
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/contact.gif"
border=0 name=contact></A></CSOBJ>
<CSOBJ
cl="/images/menu/siteindex.gif"
ht="/images/menu/siteindex_over.gif" t="Button"
h="23"><A
onmouseover="return CSIShow(/*CMP*/'siteindex',1)"
onclick="CSIShow(/*CMP*/'siteindex',2);return CSButtonReturn()"
onmouseout="return CSIShow(/*CMP*/'siteindex',0)"
href="http://www.can-cia.org/site/"><IMG height=23
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/siteindex.gif"
border=0
name=siteindex></A></CSOBJ></TD></TR></TBODY></TABLE></TD></TR>
<TR height=1>
<TD class=layout bgColor=#009966 colSpan=2 height=1><IMG
height=1
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=500 border=0></TD></TR>
<TR>
<TD class=path vAlign=center align=left>
<TABLE class=path cellSpacing=5 cellPadding=0 border=0>
<TBODY>
<TR>
<TD class=path><A
href="http://www.can-cia.org/">home</A> > <A
href="http://www.can-cia.org/canopen/">canopen</A> >
<A
href="http://www.can-cia.org/canopen/protocol/">protocol</A></TD></TR></TBODY></TABLE></TD>
<TD class=modify style="TEXT-ALIGN: right; alignment: right"
vAlign=center align=right>
<TABLE class=modify cellSpacing=5 cellPadding=0 width="100%"
border=0>
<TBODY>
<TR>
<TD class=modify
style="TEXT-ALIGN: right; align: right"><SPAN
id=pingu><A title="Thilo Schumann"
href="http://www.pingu.info/">Pingu</A></SPAN>Last
modified: 2003-12-23</TD></TR></TBODY></TABLE></TD></TR>
<TR height=15>
<TD class=layout colSpan=2 height=15><IMG height=15
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=500 border=0></TD></TR>
<TR>
<TD class=layout vAlign=top align=left colSpan=2><FONT
face=Arial,Helvetica,Geneva,Swiss,SunSans-Regular>
<TABLE cellSpacing=0 cellPadding=10 width="100%" border=0>
<TBODY>
<TR vAlign=top>
<TD align=left>
<META content="Adobe GoLive 5" name=generator>
<H2>CANopen protocol - Process Data Object (PDO)</H2>
<P>Process Data Objects (PDOs) are mapped to a single
CAN frame using up to 8 bytes of the data field to
transmit application objects. Each PDO has a unique
identifier and is transmitted by only one node, but it
can be received by more than one (producer/consumer
communication). <BR><BR></P>
<H3>PDO transmissions</H3>
<P><IMG height=327
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pdo-transmission-Kopie.gif"
width=268 align=left border=0>PDO transmissions may be
driven by an internal event, by an internal timer, by
remote requests and by the Sync message
received:<BR><BR>- Event- or timer-driven: An event
(specified in the device profile) triggers message
transmission. An elapsed timer additionally triggers the
periodically transmitting nodes.<BR><BR>- Remotely
requested: Another device may initiate the transmission
of an asynchronous PDO by sending a remote transmission
request (remote frame).<BR><BR>- Synchronous
transmission: In order to initiate simultaneous sampling
of input values of all nodes, a periodically transmitted
Sync message is required. Synchronous transmission of
PDOs takes place in cyclic and acyclic transmission
mode. Cyclic transmission means that the node waits for
the Sync message, after which it sends its measured
values. Its PDO transmission type number (1 to 240)
indicates the Sync rate it listens to (how many Sync
messages the node waits before the next transmission of
its values). Acyclically transmitted synchronous PDOs
are triggered by a defined application-specific event.
The node transmits its values with the next Sync message
but will not transmit again until another
application-specific event has occurred.<BR><BR></P>
<H3>PDO mapping</H3>
<P>The default mapping of application objects as well as
the supported transmission mode are described in the
Object Dictionary for each PDO. PDO identifiers should
have high priority to guarantee a short response time.
PDO transmission is not confirmed. The PDO mapping
defines which application objects are transmitted within
a PDO. It describes the sequence and length of the
mapped application objects. A device that supports
variable mapping of PDOs must support this during the
pre-operational state. If dynamic mapping during
operational state is supported, the SDO Client is
responsible for data consistency.<BR></P>
<P><IMG height=234
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pdo-mapping.gif"
width=400 align=left border=0></P></TD>
<TD align=right>
<TABLE cellSpacing=0 cellPadding=1 bgColor=#009966
border=0>
<TBODY>
<TR vAlign=center align=middle>
<TD>
<TABLE cellSpacing=0 cellPadding=3 width="100%"
bgColor=white border=0>
<TBODY>
<TR vAlign=center align=left>
<TD style="FONT-WEIGHT: bold; COLOR: white"
bgColor=#009966 color="white">Direct
links</TD></TR>
<TR vAlign=top align=justify>
<TD><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/index.html">Introduction</A>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/pdo.html">Process
Data Objects (PDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/sdo.html">Service
Data Objects (SDO)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/nmt.html">Network
Managment (NMT)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/special.html">Special
function objects (Sync, Emcy, Time)</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/errorcontrol.html">Error
control: Heartbeat</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/od.html">Device
model and object dictionary</A></P>
<P><IMG height=8
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/link.gif"
width=8 border=0> <A
href="http://www.can-cia.org/canopen/protocol/bittiming.html">Bit
timing</A></P>
<UL></UL>
<P></P></TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE><BR></TD></TR></TBODY></TABLE></FONT></TD></TR></TBODY></TABLE></TD></TR></TBODY></TABLE></TD></TR>
<TR vAlign=center>
<TD class=layout align=right width=144>
<TABLE class=layout height=1 cellSpacing=0 cellPadding=0 width=144
border=0>
<TBODY>
<TR vAlign=center align=right height=1>
<TD class=layout width=120 height=1><IMG height=1
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=1></TD>
<TD class=layout bgColor=#009966 height=1><IMG height=1
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=14></TD></TR></TBODY></TABLE></TD>
<TD class=layout vAlign=center align=middle width=1 bgColor=#009966><IMG
height=1
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=1></TD>
<TD class=layout align=left bgColor=#009966><IMG height=1
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=500></TD></TR>
<TR height=14>
<TD class=layout width=144 height=14><IMG height=14
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=144></TD>
<TD class=layout width=1 bgColor=#009966 height=14><IMG height=14
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=1></TD>
<TD class=layout height=14><IMG height=14
src="CAN in Automation (CiA) - CANopen protocol - Process Data Object (PDO).files/pixel.gif"
width=500></TD></TR></TBODY></TABLE>
<TABLE class=layout width="100%">
<TBODY>
<TR>
<TD class=layout style="TEXT-ALIGN: center; alignment: center"
align=middle><A href="http://www.can-cia.org/"><B>⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -