Asynchronous TPDO

[SvanLeeuwen5]

Hi all,

I was wondering if it is possible to transmit asynchronous TPDO messages based on internal events of the objects in the PDO mapping.

I used transmission types 245 and 255.
I set the inhibit time low and the event timer high, however the TPDO will only transmit on the event timer.
The internal data changes often because I use the Position Actual Value of the CiA 402 protocol.

Hope someone can give me an answer
Thanks

[acolomb]

That's really a question for your device manufacturer. TPDOs are sent from the device, the python-canopen script on your computer is not involved in the transmission, but only receives the PDO. You can set the PDO transmission type through the API, something like node.tpdo[1].trans_type = 254 followed by node.tpdo[1].save().

[SvanLeeuwen5]

I was asking this question based on this comment:
#166 (comment)
He says that the PDO do not react to NMT messages and parameter changes, which is exactly my problem.
I also asked the manufacturer like you suggested so I'm curious what they will say.