BONFIGLIOLI Vectron Active Cube, User Manual

Page: 70 / 240

Resulting mapping
Target velocity
( 0x6042 )
Control word
( 0x6040 )
Modes of operation
( 0x6060 )
00 00 00 00 00
This example shows the necessary telegrams with the according responses of the
device.
The mapping is only stored in RAM and therefore are lost after a power restart. To
store the mapping into EEPROM (power-fail safe) refer to chapter 12.2.11.
The number of mappable objects depends on the object’s length.
The maximum number of bytes that can be mapped is 8.
12.2.21 0x1800/n, 0x1801/n, 0x1802/n
TxPDO Communication Parameters
Index Sub-index Meaning Data type Access Map Def.-Val
0x1800
0x1801
0x1802
0 Highest sub-index supported Unsigned8 ro No 5
1 COB ID Unsigned32 rw No See text
2 Transmission type Unsigned8 rw No 255
3 Inhibit time Unsigned16 rw No See text
4 - - - - -
5 Event time Unsigned16 rw No See text
TxPDO Communication parameters:
0x1800/n TxPDO1 COB-ID Default value: 0x180 (=384) +Node ID
0x1801/n TxPDO2 COB-ID Default value: 0x280 (=640) +Node ID
0x1802/n TxPDO3 COB-ID Default value: 0x380 (=896) +Node ID
These communication parameters define the COB-ID and transmission type used by
the TxPDOs. The default setting for the COB-ID depends on the Node ID and can be
changed. The default value for the transmission type is 255 (event driven) and can
also be changed (see table).
Object 0x1800/0x1801//1802 COB-ID
Bit 31 Bit 30 Bit 29 Bit 11 ... 28 Bit 0 … 10
valid
0
frame
0
11 bit CAN-ID
Bit 31: 0 = PDO existent / valid
1 = PDO non-existent / not valid
Bit 29: 0 = 11 Bit ID
1 = 29 Bit ID NOT ALLOWED
Bit 0 … 10: 11 bit CAN-ID
TxPDO1 factory setting = valid
TxPDO2/3 factory setting = not valid
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CM-CAN ACU
04/13