Curtis Instruments AC F4-A - Page 193

APPENDIX A
pg. 185
Return to TOC Curtis AC F4-A Motor Controller – August 2020
Structure of TPDO communication parameter object (4 bytes), the TPDO COB IDs.
Index
Sub-
Index
Bit 31 Bit 30 Bit 29 Bits 11–28 Bits 7–10 Bits 0–6
Disabled Reserved Frame Reserved Standard Message Type Node-ID
CAN1:
TPDO1: 1800h
TPDO2: 1801h
TPDO3: 1802h
TPDO4: 1803h
CAN2
TPDO1: 1840h
TPDO2: 1841h
TPDO3: 1842h
TPDO4: 1843h
01h Enabled = 0
Disabled = 1
Must
be 1
0
(11 bit CAN
base frame)
00000h
(Used for
29-bit
extended
frame)
TPDO1: 0180h + Node ID
TPDO2: 0280h + Node ID
TPDO3: 0380h + Node ID
TPDO4: 0480h + Node ID
01h – 7Eh
Structure of PDO event timer parameter object (2 bytes).
Index Sub-Index
Bits 0–15
Event Timer
CAN1:
RPDO1: 1400h
RPDO2: 1401h
RPDO3: 1402h
RPDO4: 1403h
TPDO1: 1800h
TPDO2: 1801h
TPDO3: 1802h
TPDO4: 1803h
CAN2:
RPDO1: 1440h
RPDO2: 1441h
RPDO3: 1442h
RPDO4: 1443h
TPDO1: 1840h
TPDO2: 1841h
TPDO3: 1842h
TPDO4: 1843h
05h RPDO: PDO Time-out period. 0 if timeout check is disabled
TPDO: PDO Time-out period. 0 if timeout check is disabled