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User manual DRCS - CanOpen
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3.2.21 1400h – 1407h Rx PDO communication parameter
These objects contain the configuration of the PDO communication that the device can receive. The PDO transmission
parameters are described in the CIA301 document, section 7.4.8.1.
The PDO COB-ID is contained in sub-index 1:
Transmission type is contained in sub-index 2:
• Value = 0 Synchronous transmission (with SYNC messages)
• Value = 1-240 Synchronous transmission every N SYNC messages
• Value = 252-253 Transmission only upon transmission request (RTR)
• Value = 254 Manufacturer-specific asynchronous transmission
• Value = 255 Device profile-specific asynchronous transmission
RPDOs with transmission type set to 255 require the immediate updating of all mapped objects, as foreseen by the Cia
drive specifications.
3.2.22 1600h – 1607h Rx PDO mapping parameter
These objects contain the PDO mapping that the device is able to receive.
The sub-index 0 contains the number of objects mapped in the PDO, no object is mapped if the value is set to zero.
Each sub-index from 1 to the previously specified number, contains information on the object mapped in the PDO:
Below is the sequence to change PDO mapping:
• Disable the Rx PDO by setting the bit 31, in sub-index 1 of the RPDO communication parameter, to the value 1
• Disable the existing mapping by setting sub-index 0 to zero
• Change the mapping by adjusting the value of the corresponding sub-index
• Enable mapping by setting the sub-index 0 to the number of mapped objects
• Enable the Rx PDO by setting the bit 31, in sub-index 1 of the RPDO communication parameter, to the value 0
3.2.23 1800h – 1807h Tx PDO communication parameter
These objects contain the configuration of the PDO communication that the device can transmit. The PDO transmission
parameters are described in the CIA301 document, section 7.4.8.1.
The PDO COB-ID is contained in sub-index 1:
Transmission type is contained in sub-index 2:
• Value = 0
Synchronous transmission (with SYNC messages)
• Value = 1-240
Synchronous transmission every N SYNC messages
• Value = 252-253
Transmission only upon transmission request (RTR)
• Value = 254
Manufacturer-specific asynchronous transmission
• Value = 255
Device profile-specific asynchronous transmission
TPDOs with transmission type set to to 255 are only transmitted when the “status word” object is mapped and has changed,
all other mapped objects do not lead to transmission, as foreseen by the CIA drive specifications.
Sub-index 3 contains the minimum time interval for which the TPDO can be transmitted when the transmission type set
is 255 or 254.
This value is a multiple of 100usec, the minimum interval is disabled if set to zero.
Sub-index 4 is reserved.
Sub-index 5 contains the maximum time interval for which the TPDO can be transmitted when the transmission type set
is 255 or 254.
This value is a multiple of 1msec, the maximum interval is disabled if set to zero.
3.2.24 1A00h – 1A07h Tx PDO mapping parameter
See RxPDO mapping.
Bit
Value
Description
31(MSB)
0
1
PDO present / valid
PDO absent / invalid
30
X
Reserved
29
0
1
11 bit CAN-ID
29 bit CAN-ID
28-0
29 bit CAN-ID (extended address)
11-0
11 bit CAN-ID (standard address)
Bit
Value
Description
31(MSB)
0
1
PDO present / valid
PDO absent / invalid
30
0
1
RTR supported
RTR unsupported
29
0
1
11 bit CAN-ID
29 bit CAN-ID
29-11
29 bit CAN-ID (extended address)
10-0
11 bit CAN-ID (standard address)
31 16 15 8 7 0
Index
Sub-index
Lenght
MSB
LSB
