Isel IMD1, Manual

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Positioning module UVE8112, IMD10 CanOpen
protocol
Transmit PDO3 – communication parameters
Type Attrib Map Default Meaning Index Sub Name
value
1802 T_PDO3 parameters RECORD Comm. parameters.
1802 00 Number of entries Unsigned 8 ST CON N 2 Number of entries.
1802 01 Unsigned 32 RO N 0x380+Node
no. COB ID Identifier of the TxPDO3.
1802 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO.
1802 03 Inhibit time Unsigned 16 RW N 50
Minimal sending interval
for TxPDO3 (in [100 µs]).
1802 04 Compatibility entry ed 8 . Unsign RW N 0 No function
1802 05 Event timer Unsigned 16 RW N Timer for cyclic sending
(unit: [1 ms]). 0
Transmit PDO4 – communication parameters
Index Sub Name Type Attrib Map Default
value
Meaning
1803 T_PDO4 parameters RECORD Comm. parameters.
1803 00 Number of entries ed 8 ntries. Unsign CONST N 2 Number of e
1803 01 COB ID Unsigned 32 RO N Node
.
Identifier of the TxPDO4. 0x480+
no
1803 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO.
1803 03 Inhibit Time Unsigned 16 RW N 50 Minimal sending interval
for TxPDO4 (in [100 µs]).
1803 04 Compatibility entry Unsigned 8 RW N 0 No function.
1803 05 Event timer ed 16 cyclic sending
).
Unsign RW N 0 Timer for
(unit: [1 ms]
Transmit PDO1 – mapping parameters
p
ue
Index Sub Name Type Attrib Ma Default
val Meaning
1A00 T_ PDO1 mapping RECORD Mapping parameters.
1A00 00 No. of obj. in PDO Unsigned 8 RW N 1 Number of objects.
1A00 01 Mapping for 1st obj. 60410010 Unsigned 32 RW N 0x Mapping of the 1
st
object.
1A00 02 Mapping for 2nd obj. Unsigned 32 RW N 0x00000000 ject. Mapping of the 2
nd
ob
1A00 03 Mapping for 3rd obj. 000000 ject. Unsigned 32 RW N 0x00 Mapping of the 3
rd
ob
1A00 04 Mapping for 4th obj. 00000000 Unsigned 32 RW N 0x Mapping of the 4
th
object.
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