• SBI-COP/DN-AGy Card
Instruction Manual
Eng
lish
Subindex Meaning
Value
0
Number of supported
entries
2
1
COB-ID used by the PDO
- Bit 31 (valid/invalid PDO) can be set via SDO
- Bit 30 (RTR Remote Transmission Request) = 0 because this
function is not supported.
- Bit 29 (ID 11/29 bit) = 0 because the 11-bit ID is used (CAN
2.0A).
- Bit 11-28 are not used.
- Bit 0-10 COB-ID (see table 4.1.4).
2
Transmission Type
1 = Cyclic-synchronous, 254 or 255 = Asynchronous
tab07g
3.1.7 Transmit PDO Communication
The structure of the PDO Communication Parameter (index 1800h, 1801h) is:
Subindex Meaning
Value
0
Number of supported
entries
2
1
COB-ID used by the PDO
- Bit 31 (valid/invalid PDO) can be set via SDO
- Bit 30 (RTR Remote Transmission Request) = 0 because this
function is not supported.
- Bit 29 (ID 11/29 bit) = 0 because the 11-bit ID is used (CAN
2.0A).
- Bit 11-28 are not used.
- Bit 0-10 COB-ID (see table 4.1.4).
2
Transmission Type
0 = Acyclic synchronous, 1 ... 240 = Cyclic-synchronous, 254 o
255 = Asynchronous, 253 = Asynchronous with RTR
3
Inhibit Time
tab08g
3.1.8 SDO Server
Only the “Expedited” data transfer mode (max. 4 Bytes) is used.
Subindex Meaning
Value
0
Number of supported
entries
2 because the device is a Server of the SDO service.
1
COB-ID used by the PDO
for receiving
(Client -> Server)
2
COB-ID used by the PDO
for transmitting
(Server -> Client)
tab09g
- Bit 31 (valid/invalid SDO) =1 because just the Default SDOs are
used.
- Bit 30 (RTR Remote Transmission Request) = 0 because this
function is not supported.
- Bit 29 (ID 11/29 bit) = 0 because the 11-bit ID is used (CAN
2.0A).
- Bit 11-28 are not used.
- Bit 0-10 COB-ID (see table 4.1.4).
The element “node ID of SDO’s client resp. server” is not supported because
just the Default SDOs are used.
3.1.9 COB-ID SYNC Entries
The structure of the 32 bits contained in the COB-ID SYNC communication
parameter is:
- Bit 31 = 1 because the CANopen interface card is a “consumer” of SYNC
messages.
- Bit 30 = 0 because the interface card does not create SYNC mes
-
sages.
- Bit 29 = 0 because the 11-bit ID is used (CAN 2.0A).
