Connections and Interfaces
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3.
If the setting should be maintained in the case of a power failure, the changes have to be saved, as
described in section (
10.2.4.4
Setting the Sending Cycle for the Position Data
The position data are sent cyclically by the device, therefore the device has to be in the Operational Mode (
10.2.6.1).
The settings of the cycle duration takes place in the device profile DS406 in the object 1800h, Sub-index 5 and
for devices with DS417 profile in object 1906h, Sub-index 5.
1.
Change into the Operational or Pre-operational Mode, if necessary.
2.
The following figure shows the CAN-message, which should be transmitted to the CANopen device and
the following answer.
2B UU VV 05 YY ZZ 00 00
DLC:
ID:
XXX
8
Set cycle time for position data
Master
CANopen
device
XXX = 600h + node-ID
Example.: 604h for the device with node-ID 4
UU = 00h (DS406), 06h(DS417)
VV = 18h (DS406), 19h(DS417)
YY = LSB of cycle time in milliseconds
ZZ = MSB of cycle time in milliseconds
Example: for a cycle time of 10ms (Ah) is
YY = 0Ah and ZZ = 00h
05
ID:
DLC:
XXX
8
60 UU VV
00 00 00 00
XXX = 580h + node-ID
Example: 584h for the device node-ID 4
Acknowledgment of the CANopen device
Figure 20: Setting the Sending Cycle for the position data
3.
If the settings should be maintained in case of a power failure, the changes have to be saved, as de-
scribed in section (
10.2.5
Saving the Parameters
In the normal case the settings are lost at power failure. In order to avoid this, they need to be saved according
to the following procedure.
1.
Change into the Operational or Pre-operational Mode, if necessary.
2.
The following figure shows the CAN-message, which should be transmitted to the CANopen device and
the following answer:
