Lika IF55 ROT CB, User Manual, Page: 83 / 88

IF55 ROT CANopen®
7.8 Setting the Sync counter
1801 PDO2 parameters
sub 2 (n = 5 = 05h)
Master  Slave (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2F 01 18 02 05 - - -
Slave

Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 18 02 00 - - -
7.9 Disabling the Sync mode
1801 PDO2 parameters
sub 1
Read COB-ID used by PDO2:
Master  Slave (Req request)
COB-ID Cmd Index Sub Process data
600+ID 40 01 18 01 - - - -
Slave

Master (Req reply)
COB-ID Cmd Index Sub Process data
580+ID 43 01 18 01 B0 B1 B2 B3
COB-ID used by PDO2 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 1:
B3 |= 0x80;
Set new COB-ID used by PDO2 ( 1801 PDO2 parameters sub 1):
Master

Slave (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 01 18 01 B0 B1 B2 B3
Slave  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 18 01 00 00 00 00
7.10 Enabling the Cyclic mode
Set cyclic time
6200-00 Cyclic timer
(100 ms = 64h)
Master

Slave (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2B 00 62 00 64 00 - -
Slave  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 00 62 00 00 00 - -
MAN IF55 ROT CB E 1.2.odt 7 - Setting-up 83 of 88