9.2 CANopen Communication
9-30
No
Index
(HEX)
Sub Name Remarks
31 1802 1 3rd TPDO COB-ID
3rd Transmit PDO Communication Parameter
32 2 Transmission Type
33 3 Inhibit Time
34 5 Event Timer
35 1A00 0 1st TPDO Number of mapped objects
1st Transmit PDO Mapping Parameter
36 1 PDO mapping entry1
37 2 PDO mapping entry2
38 3 PDO mapping entry3
39 4 PDO mapping entry4
40 1A01 0 2nd TPDO Number of mapped objects
2nd Transmit PDO Mapping Parameter
41 1 PDO mapping entry1
42 2 PDO mapping entry2
43 3 PDO mapping entry3
44 4 PDO mapping entry4
(3) Application parameters
No
Index
(HEX)
Sub Name Remarks
1 6007 0 Communication abort behavior Same as [y36]
2 6042 0 vl target velocity
3 6046 1 vl velocity min amount F16 (*1)
4 6046 2 vl velocity max amount F03/A01 (*1)
5 6048 1 vl velocity acceleration Delta speed
Acceleration Time 1 [F07] (*1)
6 6048 2 Delta time
7 6049 1 vl velocity deceleration Delta speed
Deceleration Time 1 [F08] (*1)
8 6049 2 Delta time
9 604A 1 vl velocity quick stop Delta speed
Deceleration time for Forced stop[H56] (*1)
10 604A 2 Delta time
11 604B 1 vl set-point factor numerator [C89] (*1)
12 604B 2 vl set-point factor denominator [C90] (*1)
13 604D 0 vl pole number [P01/A15] (*1)
*1: It changes automatically if the applicable function code is changed due to other causes such as the
keypad.
It is automatically written to the applicable function code.
In this case, whether it is saved in the non-volatile memory depends on the set value of the function code
[y97].
[y97=0] The data is saved in non-volatile memory. Even if the power is cut off, data is stored.
[y97=1] The data is saved in volatile memory. If the power is cut off, data is lost.
If “Store” is requested by Sub02 of the object 1010, it is also saved even with [y97 = 1].
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