AM58K CANopen®
1014-00 COB-ID EMCY
[Unsigned32, rw]
This object defines the COB-ID used for sending emergency messages (EMCY).
If the node address is set using the internal dip-switches (i.e. at least one dip-
switch for setting the node has HIGH logic level = 1), when the power is turned
on, this object is always forced to the default value. Otherwise, if the node
address is set via software (i.e. all dip-switches for setting the node have LOW
logic level = 0) it retains the set value, unless a software procedure for setting a
new address is forced at power on.
Default = 0000 0080h+NodeID
1015-00 Inhibit time EMCY
[Unsigned16, rw]
Inhibit time of the emergency messages (EMCY) expressed in multiples of 100
µs. When set to 0, this function is disabled.
Default = 0000h
1018 Identification object
01 Vendor number
[Unsigned32, ro]
02 Product number
[Unsigned32, ro]
03 Revision number
[Unsigned32, ro]
1800 PDO1 parameters
PDO1 message is used by default for cyclic transmission of the position value.
For more information refer to section “6.6 PDO objects” on page 26.
See object
to set the cyclic timer.
01 COB-ID of PDO1
[Unsigned32, rw]
Bit number
Value Meaning
31 (MSB)
0
PDO exists / is valid
1
PDO does not exist / is not valid
30
0
RTR allowed on this PDO
(not implemented)
1
no RTR allowed on this PDO
29
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
28 … 11
0
if bit 29 = 0
X
if bit 29 = 1: bits 28-11 of 29-bit-COB-ID
10 … 0 (LSB)
X
bits 10-0 of COB-ID
Default = 4000 0180h+NodeID (no RTR, COB-ID)
MAN AM58K CB E 1.1.odt
31
6 - CANopen® interface
