Lika AM58K 13/4096CB Series, User Manual

Page: 37 / 56

AM58K CANopen®
NOTE
- Transmission of PDO1, PDO2, PDO3 and PDO4 messages can be enabled (or
disabled) by setting to “0” (or “1”) the most significant bit (MSB) used by PDO
(object
180xh
, sub1).
- Cyclic transmission or synchronous transmission can be modified by setting
the object
180xh
sub 2:
01h: synchronous transmission at each SYNC command;
02h: synchronous transmission after two SYNC commands;
…
FEh: cyclic transmission:
if
6200-00 Cyclic time
≠ 0  “cyclic transmission”: cycle time is set
next to the object 6200h;
if
6200-00 Cyclic time
= 0  the PDO message is not sent.
1A00-01 PDO1 mapping parameter
[Unsig32, rw]
This object contains the mapped position value of the encoder according to
DS406 device profile.
Default = 6004 0020h
1A01-01 PDO2 mapping parameter
[Unsig32, rw]
See object
1A00-01 PDO1 mapping parameter
.
1A02-01 PDO3 mapping parameter
[Unsig32, rw]
See object
1A00-01 PDO1 mapping parameter .
1A03-01 PDO4 mapping parameter
[Unsig32, rw]
This object contains the mapped velocity value of the encoder according to the
manufacturer profile.
Default = 3006 0020h
MAN AM58K CB E 1.1.odt 37 6 - CANopen® interface