56 - MCM260X - Manuale d’uso
Inhibit Time is the minimum time between two consecutive PDO with the same COB-ID (time unit of
100msec).
Event Timer defines the time after which a PDO is transmitted, even if no
change of data has occurred (msec). It can be used with transmission types 254 and 255 only.
11.1.22 Transmit PDO Mapping
This object defines the data transmitted by the PDO. Sub-index 0 contains the number of valid objects
for the PDO.
Index Subindex Name Type Default R/W
0x1A00
0x1A01
0x1A02
0x1A03
0 Object number Record 8bit unsigned - R/W
1...8
Object mapped in
PDO
Record 32bit unsigned - R/W
Object structure:
Bit 16...31 Bit 8...15 Bit 0...7
Index Sub-index Object length
Index: object address that must be transmitted
Sub-index: object sub-index that must be transmitted
Object size: length in bit of the object (not more than 8 bytes may be transmitted with a PDO; therefore
the sum of the object length must not exceed 64.
11. 2 Manufacturer Specific Parameter Area
The table below shows all the objects of the Manufacturer Specific Parameters Area:
Index Name Type R/W
0x2000 Device specifications Array 16bit signed R/W
0x3000 MCM260X parameters Array 16bit signed R/W
0x3001 Encoder/Counter calculations 32bit signed R
0x3002 Encoder/Counter preset 32bit signed R/W
0x3003 Encoder/Counter commands 8bit unsigned R/W
0x3004 Encoder/Counter calculations 1s 32bit signed R
0x3005 Encoder/Counter calculations 100ms 32bit signed R
0x4007 Status/error flags 16bit unsigned R
11. 2.1 Device specification
This object defines some configuration parameters of the MCM260X
Index Subindex Name Type Default R/W
0x2000 0
Number of
sub-indexes
Array 8bit unsigned 19 R
1 CANopen bus speed Array 16bit signed 6 R
2 Reserved Array 16bit signed 0 R
3 Boot-up time Array 16bit signed 120 R/W
4
CANopen status after
boot-up
Array 16bit signed 0x7F R/W
5 Digital input filter Array 16bit signed 2 R/W
6...19 ... Reserved R/W
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