Lika AM58K 13/4096CB Series, User Manual

Page: 35 / 56

AM58K CANopen®

02 Transmission type
[Unsigned8, rw]
Transmission type PDO transmission
00h (0) Acyclic, synchronous not implemented
01h … F0h (1 … 240) Cyclic, synchronous implemented
F1h … FBh (241 … 251) not implemented - reserved
FCh (252)
Synchronous, RTR only
not implemented
FDh (253) Asynchronous, RTR only not implemented
FEh (254)
Asynchronous,
manufacturer specific
implemented
FFh (255)
Asynchronous, device
profile specific
not implemented
Default = 01h (synchronous transmission at each SYNC command)
Position value is transmitted after the set number of SYNC commands.
Interval in SYNC commands must be set next to this object
1802 PDO3
parameters , 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
6200-00 Cyclic time
≠
0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object
6200-00 Cyclic time ; otherwise, if the value
next to the object
6200-00 Cyclic time
= 0, the PDO message is not
sent.
1803 PDO4 parameters
PDO4 is used by default for cyclic transmission of the velocity value.
For more information refer to section “6.6 PDO objects” on page 26.
See object
6200-00 Cyclic time
to set the cyclic timer.

01 COB-ID of PDO4
[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
0 11-bit ID (CAN 2.0A)
MAN AM58K CB E 1.1.odt 35 6 - CANopen® interface