BECKHOFF AX2000 CANopen communication profile - Manual (Page 33)

4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301)
This Object can be used to change the COB-ID for the SYNC message.
Index 1005 h
Name COB-ID for the SYNC message
Object code VAR
Data type UNSIGNED32
Category O
Access rw
PDO mapping not possible
Value range UNSIGNED32
Default value 80000080 h
The structure of the parameter is as follows:
MSB LSB
X 0/1 0 00 h 11-bit identifier
31 30 29 28 11 10 0
Only Bits 0 ... 10, 29 and 30 have any significance:
Bit Value Meaning
31 X —
30
0 Device not generating SYNC message
1 Device generating SYNC message
29
0 11 Bit ID
1 29 Bit ID
28 ... 11 X Bit 11 ... 28 of 29-bit SYNC COB-ID
10 ... 0 X Bit 0 ... 10 of SYNC COB-ID
4.2.1.7 Object 1006h: Communication Cycle Period (DS301)
This Object can be used to define the period (in μs) for the transmission of the SYNC telegram.
Index 1006 h
Name Period of the communication cycle
Object code VAR
Data type UNSIGNED32
Category O
Access rw
PDO mapping not possible
Value range UNSIGNED32
Default value 00 h
CANopen for AX2000/2500 33
BECKHOFF
07/2007
CANopen Drive Profile