AM58K CANopen®
29
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 0480h+NodeID (no RTR, COB-ID)
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.
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 = FEh (cyclic transmission, see hereafter and object
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.
MAN AM58K CB E 1.1.odt
36
6 - CANopen® interface
