SFA-5000 • SFA-10000 CANopen®
1800 TPDO communication parameter 1
PDO1 message is used by default for cyclic transmission of the position 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 TPDO1
[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+4000 0180h (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 TPDO1 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
not implemented
MAN SFA_5000_10000_CB E 1.0.odt
6 - CANopen® interface
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