Communication manual 8400 motec CANopen
Implemented CANopen objects
102 L EDS84DMOTCAN EN 3.0 - 11/2011
I-1800 - TPDO1 communication parameter
Communication parameters for sending process data via TPDO1
[13-15] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1800
Name:
TPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Highest subindex supported 5 - (read access only) ro U8
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access results in error
message 0x06090011)
rw U8
5: Event timer 0 ms 0 ms 65535 rw U16
Subindex Meaning Code
0 The value 5 is permanently set.
• Max. 5 subindexesare supported.
-
1 TPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: identifier = 0x180 + node ID
C00354/2
2 TPDO transmission type according to DS301 V4.02
Transmission type
( 52)
C00322/1
3 Minimum time between sending two identical TPDOs
(see DS301 V4.02).
-
5 Cycle time for PDO transmission with transmission type
"254".
C00356/5
C00369
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
Bit Setting
Bit 30 0 RTR to this PDO permissible (Lenze).
1 RTR to this PDO not permissible (cannot be set).
Bit 31 0 PDO active
1PDO inactive
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