Applied Motion ST10-C-CE - Manual (Page 35)

35 920-0025 Rev K
3/5/2015
CANopen User Manual
0x1800~0x1803 TPDO communication parameter
Contains the communication parameters for the PDOs the device is able to transmit.
The type of the PDO communication parameter (20h) is described in 9.5.4 of CiA 301. A
detailed description of the entries is done in the section for the Receive PDO Communication
Parameter (1400h – 1403h).
Object Type Sub Number
Record 7
Subindex Name Data Type
Access
Type
PDO
Mapping
COS Default value
00 max sub-index UNSIGNED8 ro no no 6
01 COB-ID used by TPDO UNSIGNED32 rw no no 0x180+$NODEID3
02 transmission type UNSIGNED8 rw no no 255
03 inhibit time UNSIGNED16 rw no no 100
04 compatibility entry UNSIGNED8 rw no no 0
05 event timer UNSIGNED16 rw no no 0
06 SYNC start value UNSIGNED8 rw no no 0
0x1800 - 0x1803 TPDO communication parameter
max sub-index
COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - RTR are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO
Transmission type
value = 0: transmiting is synchronous, specification in device profile
value = 1-240: transmiting is synchronous after every N-th SYNC object
value = 241-251: not used
value = 252-253: Transmited only on reception of Remote Transmission Request
value = 254: manufacturer specific
value = 255: asinchronous, specification in device profile
inhibit time
bit 0-15: Minimum time between transmissions of the PDO in 100µs. Zero disables
functionality.
compatibility entry
bit 0-7: Not used.