Woodward LS-5 v2 Series - Page 199

Fig. 83: TPDO mapping
CANopen allows to send 8 byte of data with each Transmit PDO. These may be de󰈡ned
separately if no pre-de󰈡ned data protocol is used.
All data protocol parameters with a parameter ID may be sent as an object with a
CANopen Transmit PDO.
The data length of the value is de󰈡ned by the number of used bytes. This will be taken
from the data byte column (see ╚═▷ “9.2 Data Protocols”).
The object ID is identical with the parameter ID when con󰈡guring via front panel or
ToolKit.
COB-ID parameters
Parameters
9600 / 9610 / 9620 use communication parameters that adhere to the
following structure.
UNSIGNED 32 MSB LSB
Bits 31 30 29 28-11 10-0
11 bit ID 0/1 X X all 0 (18 bit) 11 bit identi󰈡er
Bit number Value Meaning
31 (MSB) 0 PDO exists / is valid
1 PDO does not exist / is not valid
30 X N/A
29 X N/A
28-11 0 Always
10-0 (LSB) X Bits 10-0 of COB-ID
199LS-5 v2 Series37650
4 Con󰈡guration
4.6 Con󰈡gure Interfaces
Released