AM58K CANopen®
Position value is transmitted after the set number of SYNC commands.
Interval in SYNC commands must be set next to this object
, sub 2.
WARNING
Following an attempt to set the
Transmission Type
to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the
Transmission Type
to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h:
Value
range of parameter exceeded
) is generated.
If the value next to the object
≠
0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object
; otherwise, if the value
next to the object
sent.
1802 PDO3 parameters
PDO3 message is used by default for synchronous transmission of the position
value. For more information refer to section “6.6 PDO objects” on page 26.
01 COB-ID of the PDO3
[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 = C000 0380h+NodeID (disable, no RTR)
WARNING
It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
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.
MAN AM58K CB E 1.1.odt
34
6 - CANopen® interface
