ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 16)

CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
10
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 0 Number of entries 3
1 COB-ID used by PDO 400001FFh
2 Transmission type 255
3 Inhibit Time 0
4 Reserved 0
5 Event timer 0
Index Sub-index Name Default Value
1A00h 1 Number of entries 1
Statusword 6041 00 10h
Index Sub-index Name Default Value
2F20h 1 TPDO1 asynchronous
events
0
The asynchronous transmission of TPDO1 reflects changes performed
3 milliseconds prior to the transmission.
Receive PDO 2 is mapped to the binary interpreter by default. This is done for
compatibility reasons and to enable communication with the Elmo Composer.
Index Sub-index Name Default Value
1401h 0 Number of entries 2
1 COB-ID used by PDO 4000037Fh
2 Transmission type 254
Index Sub-index Name Default Value
1601h 0 Number of entries 1
1 Binary interpreter
command
2013 00 40h