TpdoTransmission Enum¶
TPDO transmission trigger for ICanOpenNode.ConfigureTpdo. Each member maps to a
CiA 301 §7.5.2.37 Table 72 transmission type byte in the TPDO's 1800h:02 record (see
CanOpenTransmissionType); the numeric values of this enum are not the wire
encoding. "Every n-th SYNC" (02h–F0h) has no member because it carries a
number: write the raw byte to 1800h:02 through the object dictionary instead.
Fields¶
EventDriven 0
Event-driven (FEh): emitted on change of state of a mapped object and by
ICanOpenNode.TriggerTpdoAsync; rate-limited by the inhibit time.
EventTimer 1
Event-driven with an event timer (FEh plus 1800h:05): as
EventDriven, and additionally re-transmitted whenever the event timer elapses
without a transmission — the maximum interval between two transmissions.
Synchronous 2
Synchronous, cyclic every SYNC (01h).
SynchronousAcyclic 3
Synchronous, acyclic (00h): transmitted after the next SYNC only if a
change of state or a TriggerTpdoAsync call occurred since the previous SYNC.
RtrOnlySynchronous 4
RTR-only, synchronous (FCh): sampled at every SYNC into a buffer, and the
buffered sample is transmitted when a consumer requests the PDO with an RTR.
RtrOnlyEventDriven 5
RTR-only, event-driven (FDh): sampled and transmitted when a consumer
requests the PDO with an RTR.