Communication protocols
PROGRAMMING MANUAL 233
Revision 1.0
To configure a TPDO, execute the command
CAN_CORT(unit,8,PDO_number,area_type,start_address,COB_ID,
inhibit_time,event_timer,obj_type, obj_type,...)
4. The write operations defined with the command
CAN_CORT(unit,9,node_ID,index,subindex,byte1,byte2,...) are
executed at each network startup. Note the following:
• Execute this command for each CANopen object that must be
configured.
• Do the configuration for the TJ1-CORT first, before the configuration
of the CANopen slaves.
• Group the configuration commands for the CANopen slaves together
per node.
• It is possible that certain non-default settings are required for the
TJ1-CORT or the CANopen slaves in the network. An example is to
initialize the heartbeat consumption and production object entries.
• It is highly recommended that the TJ1-CORT acts as the heartbeat
consumer for all connected CANopen devices. Otherwise, the
communication status will be incorrect.
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