AM58K CANopen®
1801 PDO2 parameters
PDO2 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 PDO2
[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 0280h+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 = 01h (synchronous transmission at each SYNC command)
MAN AM58K CB E 1.1.odt
33
6 - CANopen® interface
