CANopen interface
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AMS 335
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Data structure TPDO2 for the synchronous transmission of the position value
and the position state
9.5.7.13 Object 1802
h
PDO3
Communication parameters for asynchronous transmission of velocity and state.
9.5.7.14 Object 1A02
h
TPDO3 Asynchronous transmission of velocity and state.
Data structure TPDO3 for the asynchronous transmission of the velocity values
and the velocity state
Byte
Bit
Remark
7
6
5
4
3
2
1
0
0
LSB
Position data
see object description 6004
h
1
2
3
MSB
4
Status
see object description 2060
h
sub-index 01
5
6
7
Index
Sub-
index
Name
Data type
Access
Value range
Remark
(hex)
(hex)
Minimum
Maximum
Default
1803
01
COB-ID for
TPDO1
u 32
ro
--
--
380h + Node ID
02
Transmis-
sion type
u 8
rw
--
--
254
254 = asynchro-
nous
03
Inhibit time
u 16
rw
0
1000
0
Inhibit time
04
Reserved
05
Event timer
u 16
rw
0
1000
0
Event timer
Index
Sub-
index
Name
Data type
Access
Value range
Remark
(hex)
(hex)
Minimum
Maximum
Default
1A02
01
Velocity
value
int 32
ro
--
--
2020 04 20
velocity value from
object 2020
sub-index 04
02
Status
velocity
value
u 16
ro
--
--
2026 00 10
Status from
object 2026
Byte
Bit
Remark
7
6
5
4
3
2
1
0
0
LSB
Velocity value
see object description 2020
h
sub-index 04
1
MSB
Status
see object description 2026
h
sub-index 01
2
3
