Festo CMGA-E1-CO, Installation Manual

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CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 9
6 TPDOs
The following COB-IDs are used for the TPDOs during the initialization of the CMGA-E1-CO. They can be
be changed on the standard position within the OD (index 0x1800 to 0x1807, sub-index 1).
TDPO COB-ID Assigned device
TPDO1 0x180 + node ID Device 1
TPDO2 0x280 + node ID Device 2
TPDO3 0x380 + node ID Device 3
TPDO4 0x480 + node ID Device 4
TPDO5 0x180 + node ID + 1 Device 5
TPDO6 0x280 + node ID + 1 Device 6
TPDO7 0x380 + node ID + 1 Device 7
TPDO8 0x480 + node ID + 1 Device 8
Tab. 4 COB-IDs used for the TPDOs
The mapping of the TPDOs can not be altered, but it can be read from the OD, index 0x1A00 to 0x1A07.
A TPDO telegram is always generated if there is a change in the received DiagData of the assigned
device.
Example: if there is a change in at least one byte of the DiagData received from the CMGA-E1-CO on the
backplane bus of device 3, then a TPDO3 is generated.
7 SDO
The data communication with SDO uses the standard COB-IDs 0x580 + node ID for sending and 0x600 +
node ID for receiving.
8 Heartbeat producer
The CMGA-E1-CO is a heartbeat producer conforming to the CANopen standard.
The “producer heartbeat time” is adjustable and can be changed in the OD index 0x1017.
The standard value is 0, i.e. the production of heartbeat messages is switched off.
Valid values lie in the range from 0 to 60000. The unit is 1 ms.