Operation and maintenance instructions
Series PME CANopen proportional pressure
regulator
5000054187
Ver. 01
45
11.3.2.24.
1600h
–
1607h Receive PDO Mapping Parameter
These objects contain the PDO mapping that the device is able to receive.
The sub-index 0 contains the number of objects mapped in the PDO, if the value is set to 0 no object
is mapped. Each sub-index from 1 to the number specified above contains the information of the
object mapped in the PDO.
Following the sequence to modify the mapping of a PDO:
▪
Disable the Rx PDO by setting bit 31 in sub-index 1 of the RPDO communication parameter to
value 1.
▪
Disable the existing mapping by setting sub-index 0 to zero.
▪
Change the mapping by changing the value of the corresponding sub-index.
▪
Enable mapping by setting sub-index 0 with the number of mapped objects.
▪
Enable the Rx PDO by setting bit 31 in sub-index 1 of the RPDO communication parameter to the
value 0.
11.3.2.25.
1800h
–
1807h Transmit PDO Communication Parameter
These objects contain the communication configuration of the PDOs that the device can transmit.
The parameters of the PDO transmission are described in the document CIA301 section 7.4.8.1. Sub-
index 1 contains the COB-ID of the PDO.
BIT
VALUE
DESCRIPTION
31
(MSB)
0
1
PDO exist / is valid
PDO
don’t exist / isn’t valid
30
0
1
RTR supported
RTR not supported
29
0
1
11 bit CAN-ID
29 bit CAN-ID
29-11
29 bit CAN-ID (extended message)
10-0
11 bit CAN-ID (standard message)
Sub-index 2
contains the communication type:
▪
Value = 0
Synchronous transmission (with SYNC messages).
▪
Value = 1÷240
Synchronous transmission every N SYNC messages.
▪
Value = 252-253 Transmission only on transmission request (RTR).
▪
Value = 254
Customer specific asynchronous transmission.
▪
Value = 255
Device profile specific asynchronous transmission
