Overview 07/06 Danaher Motion
16 Initial Release M-S2-021-11
Transmission Modes
The following PDO transmission modes are available:
Synchronous transmission
Asynchronous transmission
The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives.
Synchronous PDOs are transmitted within a pre-defined time window immediately following the SYNC
Object. The transmission modes are set up with the aid of the PDO communication parameters.
SYNC
SYNCSYNC
Synchronous
Asynchronous
time
Synchronous
Length
Object
Window
Object Object
Trigger modes
Three different trigger modes are distinguished:
Event driven
The transmission of the telegrams is triggered by an object-specific event.
Time driven
If event driven signals put a high strain on the bus, you can determine the period of time after which a
PDO can be transmitted again via the inhibit time (Communication parameter, sub-index 03
h
)
Event Timer driven
If a PDO shall be sent within a defined time interval, even if it doesn’t change, this interval can be
defined by a special SDO.
