SFA-5000 • SFA-10000 CANopen®
Default = 01h (synchronous transmission at each SYNC command)
The position value is transmitted after the set number of SYNC
commands.
The interval between the SYNC commands must be set next to this
1802 TPDO communication parameter 3
, sub 2 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
≠
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 = 0, the PDO message is not
sent.
NOTE
Please refer to the “7 - Setting-up” section on page 79 for an example of how
the
1802 TPDO communication parameter 3
object is to be set.
1803 TPDO communication parameter 4
PDO4 is used by default for cyclic transmission of the velocity value.
For more information refer to the “6.6 PDO objects” section on page 41.
See the
object to set the cyclic timer.
01 COB-ID of TPDO4
[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 = Node-ID+C000 0480h (no RTR, COB-ID)
MAN SFA_5000_10000_CB E 1.0.odt
6 - CANopen® interface
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