ElmoMC CANopen DS 301 Implementation Guide User Manual
Page 14
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Index Object
Name
0040 DEFTYPE PVT
DataPar
0041 DEFTYPE PT
DataPar
0042 DEFTYPE Binary
interpreter
query
0043 DEFTYPE Binary
interpreter
command
0044
DEFTYPE
DSP 402 PV data record
0081
DEFTYPE
DSP 402 interpolated data configuration record
Table 2-3: Data Types
Note: Data Objects 0002 to 0004 are used as map able “dummy” entries.
Communication Parameter Record Object 0x20
Index Sub-index Field in PDO Communication Parameter Record Data Type
0020h 0h
Number of supported entries in record
UNSIGNED8
1h COB-ID
UNSIGNED32
2h Transmission
type
UNSIGNED8
3h Inhibit
time
UNSIGNED16
4h Reserved
UNSIGNED8
5h Event
timer
UNSIGNED16
PDO Mapping Parameter Record Object 0x21
Index Sub-index Field in PDO Parameter Mapping Record
Data Type
0021h 0h
Number of mapped objects in PDO
UNSIGNED8
1h
First object to be mapped
UNSIGNED32
2h
Second object to be mapped
UNSIGNED32
… …
…
…
40h
64th object to be mapped
UNSIGNED32
The four device-specific data types used by
SimplIQ
digital servo drives are as follows:
PVT DataPar Object 0x40
MSB
LSB
Time (UNSIGNED8)
Velocity (SIGNED24) Position
(SIGNED32)
PT DataPar Object 0x41
MSB
LSB
Position 2 (SIGNED32)
Position 1 (SIGNED32)
CANopen DS 301 Implementation Guide
CANopen Basics
MAN-CAN301IG (Ver. 2.1)
2-5