Gotting HG G-71915, Device Description

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Device Description HG G-71915ZA | English, Revision 01 | Date: 09.09.2021
49
Interfaces – Chapter 10
Table 35
CANopen®: TxPDO_1 Parameter
Index
Sub
Index
Name Type Attr. Map Default Meaning
0x1800 00 TxPDO Parame -
ter
Unsigned 8 RO No 0x05 Number of sub
indexes
01 COB ID Unsigned 32 RW
*)
No 0x40000180
+ Node-ID PDO_1 valid, ID =
0x180 + Node-ID
02 Transmission
Type Unsigned 8 RW No 1..240,255 Synchronous or
asynchronous
03 Inhibit Time Unsigned 16 RW No 10 Shortest time
between transmis
-
sions in ms
04 Dummy
05 Event Time Unsigned 16 RW No 100 Cycle time in ms
*)
Here only the highest bit can be changed to (de)activate the PDO temporarily.
Table 36
CANopen®: TxPDO_2 Parameter
Index
Sub
Index
Name Type Attr. Map Default Meaning
0x1801 00 TxPDO Parame -
ter
Unsigned 8 RO No 0x05 Number of sub
indexes
01 COB ID Unsigned 32 RW
*)
No 0x40000180
+ Node-ID PDO_2 valid, ID =
0x280 + Node-ID
02 Transmission
Type Unsigned 8 RW No 1..240,255 Synchronous or
asynchronous
03 Inhibit Time Unsigned 16 RW No 10 Shortest time
between transmis
-
sions in ms
04 Dummy
05 Event Time Unsigned 16 RW No 100 Cycle time in ms
*)
Here only the highest bit can be changed to (de)activate the PDO temporarily.
Table 37
CANopen®: Mapping TxPDO_1
Index Sub Index Name Type Attr. Map Default Meaning
0x1A00 00 number of
mapped
objects Unsigned 8 RO No 3 Number of sub indexes
01 1st mapped
object Unsigned 16 RO No 0x61000110 Mapped to Index
0x6100.01 with 16 Bit
lebgth
02 2nd mapped
object Unsigned 32 RO No 0x61200120 Mapped to Index
0x6120.01 with 32 Bit
length
03 3rd mapped
object Unsigned 8 RO No 0x60000108 Mapped to Index
0x6000.01 with 8 Bit
length