Toshiba TOSVERT VF-MB1 Series - 4.1.5. TPDO object; 4.2. Manufacturer specific profile

E6581692
- 19 -
4.1.5. TPDO object
Index
(Hex)
Sub
index
Access Type Default value Description
1800
00 R u8 0x05 Transmit PDO1: Number of entries
01 R/W u32
0x00000180
+ Node-ID
Transmit PDO1: COB-ID
The default value is 0x00000180 (parameter data c713)
+Node-ID. If set other than 0x00000180 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO1 data set.
02 R/W u8 0x0FF
Transmit PDO1: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0
~240).
03 R/W u16 0x001E
Transmit PDO1: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO1: Reserved
05 R/W u16 0x0064
Transmit PDO1: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1801
00 R u8 0x05 Transmit PDO2: Number of entries
01 R/W u32
0x80000280
+ Node-ID
Transmit PDO2: COB-ID
The default value is 0x80000280 (parameter data c723)
+Node-ID. If set other than 0x80000280 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO2 data set.
02 R/W u8 0x0FF
Transmit PDO2 : Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0
~240).
03 R/W u16 0x001E
Transmit PDO2: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO2: Reserved
05 R/W u16 0x0064
Transmit PDO2: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1802
00 R u8 0x05 Transmit PDO3: Number of entries
01 R/W u32
0x80000380
+ Node-ID
Transmit PDO3: COB-ID
The default value is 0x80000380 (parameter data c733)
+Node-ID. If set other than 0x80000380 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO3 data set.
02 R/W u8 0x0FF
Transmit PDO3: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0
~240).
03 R/W u16 0x001E
Transmit PDO3: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO3: Reserved
05 R/W u16 0x0064
Transmit PDO3: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1814
00 R u8 0x05 Transmit PDO21: Number of entries
01 R/W u32
0x80000480
+ Node-ID
Transmit PDO21: COB-ID
The default value is 0x80000480 (parameter data c743)
+Node-ID. If set other than 0x80000480 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO21 data set.
02 R/W u8 0x0FF
Transmit PDO21: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0
~240).
03 R/W u16 0x001E
Transmit PDO21: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO21: Reserved
05 R/W u16 0x0064
Transmit PDO21: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.