6 default values, Default values -7 – ElmoMC CANopen DS 301 Implementation Guide User Manual
Page 36
5.3.6
Default Values
Default values of PDO mapping parameters are used at:
Power up
NMT communication reset (NMT 82h)
NMT node reset (NMT 81h)
In these cases, the values of the PDO parameters receive the following:
Receive PDO 1 mapped to the DSP-402 controlword in the following manner:
Index Sub-index Name
Default
Value
1400h 0h
Number
of
entries
2
1h
COB-ID used by PDO
4000027Fh
2h
Transmission
type
255
Index Sub-index Name
Default
Value
1600h
0
Number of mapped entries
1
1
Controlword
6040 00 10h
Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it
changes (typically after reception of a controlword):
Index Sub-index Name
Default
Value
1800h 0h
Number
of
entries
3
1h
COB-ID used by PDO
4000001FFh
2h
Transmission
type
255
3h
Inhibit
time
0
Index Sub-index Name
Default
Value
1600h 1h
Number
of
entries
1
Statusword
6041 00 10h
Index Sub-index Name
Default
Value
2F20h 1h
TPDO1
asynchronous
events 0
Note: The asynchronous transmission of TPDO1 reflects changes performed
3 milliseconds prior to transmission.
CANopen DS 301 Implementation Guide
Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
5-7