Jetter JXM-IO-E30, Руководство пользователя

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Jetter AG Parameterization | 8
User Manual – JXM-IO-E30 48 / 70
8.6 Mapping of Process Data Objects (PDOs)
The following parameters let you set the transmit PDOs (TPDO 1 ... 4) and receive PDOs
(RPDO 1 ... 4).
INFO
Further information
For more information on this subject refer to the application-oriented man-
ual
CANopen STX API available for download from our homepage .
Validity of a PDO
The MSB (most significant bit) of the COB ID lets you determine the validity of a PDO. To map a
PDO, first set the PDO to invalid (bit 31 = 1) and then to valid (bit 31 = 0).
Bit Value Description
31 (MSB) 0 PDO exists/is valid
1 PDO does not exist/is invalid
30 0 RTR (Remote Transmission Request) permitted for this PDO
1 No RTR allowed for 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 the 29-bit COB ID
10 … 0 (LSB) X Bits 10 ... 0 of the COB ID
Tab. 43: Validity of a PDO
8.6.1 RPDO communication parameters
Index
Sub-
index
Description Type
Types of
access
Unit Default value
0x1400
…
0x1403 0 Number of sup-
ported entries U8 R 0
1 COB ID (user-
configurable
value for PDOs) U32 R/W RPDO 1:
Index 0x1400 0x200
+ Node-ID
RPDO 2:
Index 0x1401 0x300
+ Node-ID
RPDO 3:
Index 0x1402 0x400
+ Node-ID
RPDO 4:
Index 0x1403 0x500
+ Node-ID
2 Transmission
Type U8 R Acyclic type = 0
3 Inhibit Time U16 R/W 0.1 ms 100 (10 ms)
5 Event Time U16 R/W 1 ms 500 (500 ms)
Tab. 44: RPDO communication parameters
INFO
Write access to communication parameters
Write access to communication parameters is only possible if the
JXM-IO-E30 is in the
Pre-Operational state.