DSP resolver user manual
User Manual
Version 1.15
Index
Sub
Value
Parameter
Notes
0x1800
0
6
Number of parameters
For the first transmit PDO
0x1800
1
0x4000018A
COB ID
PDO is disabled and its CAN ID is 0x18A, 11
bit CAN ids, no RTR allowed
0x1800
2
254
Transmission type
Manufacturer specific event driven . For
instance it transmitted with interval stated in
sub index 5 (event timer)
0x1800
3
0
Inhibit time
Not supported always 0
0x1800
4
0
reserved
0x1800
5
50
Event timer
PRO is transmitted every 50 ms
0x1800
6
0
Sync start value
Not supported
Table 8.3: The communication parameters of the first transmit PDO object
8.3.1
PDO COB IDs
Subindex 1 of the PDO's communication object describes PDO's COB ID. The COB ID
contains the following information: Is the PDO valid, does it support RTR, does it support
29 bit CAN ID and what's the current CAN ID.
31
30
29
28
11
10 0
Valid bit
RTR
frame
0x0 0000
11 bit CAN ID
0/1
Always 1
Always 0
29 bit CAN ID (not supported in this module)
Set 0 to enable
the PDO and 1 to
disable it
RTR not
supporte
d
29 bits IDs
not
supported
To enable the automatic CAN ID
calculation for this PDO set the CAN ID
data as 0 or to match to the current
default ID of this PDO ( default id + node
id for instance 0x180 + node id)
Table 8.4: The structure of PDO's COB ID and one possible value set
Resolver module supports automatic CAN ID calculation, which means that the software
updates PDO's CAN ID automatically when module NODE ID is changed. This feature is
on as default for every PDO after restoring communication parameters. You may check the
status of this feature by comparing the PDO's CAN ID to PDO's default CAN ID. If they
match or CAN ID is 0 the default calculation is on. The default CAN ID can be calculated
according to the following table.
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©
Axiomatic Technologies Oy
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