Applied Motion ST10-C-CE - Manual (Page 36)

36 920-0025 Rev K
3/5/2015
CANopen User Manual
event timer
bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables
functionality.
SYNC start value
value = 0: Counter of the SYNC message shall not be processed.
value = 1-240: The SYNC message with the counter value equal to this value shall be
regarded as the first received SYNC message.
Note 3: Index 1800.01h Default Value is 0x180+$NODEID
Index 1801.01h Default Value is 0x280+$NODEID
Index 1802.01h Default Value is 0x380+$NODEID
Index 1803.01h Default Value is 0x480+$NODEID
0x1A00 ~ 0x1A03 TPDO mapping parameter
Contains the mapping for the PDOs the device is able to transmit. The type of the PDO
mapping
parameter (21h) is described in 9.5.4 of CiA 301. A detailed description of the entries is
done in the section for the Receive PDO Mapping Parameter (1600h – 1603h).
Object Type Sub Number
Record 9
Subindex Name Data Type Access Type
PDO
Mapping
COS Default value
00
Number of
mapped objects
UNSIGNED8 rw no no 1
01 mapped object 1 UNSIGNED32 rw no no 0x60410010
02 mapped object 2 UNSIGNED32 rw no no 0x00000000
03 mapped object 3 UNSIGNED32 rw no no 0x00000000
04 mapped object 4 UNSIGNED32 rw no no 0x00000000
05 mapped object 5 UNSIGNED32 rw no no 0x00000000
06 mapped object 6 UNSIGNED32 rw no no 0x00000000
07 mapped object 7 UNSIGNED32 rw no no 0x00000000
08 mapped object 8 UNSIGNED32 rw no no 0x00000000
0x1A00 - 0x1A03 TPDO mapping parameter. (To change mapping, ‘Number of mapped
objects’ must be set to 0).
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7:
data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD