Lika CANopen SFA-10000-CB, Руководство пользователя

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SFA-5000 • SFA-10000 CANopen®
profile specific
Default = FEh (cyclic transmission, see hereafter and the
6200-00
Cyclic time object)
WARNING
Following an attempt to set the
Transmission Type
to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the
Transmission Type
to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h:
Value
range of parameter exceeded
) is generated.
If the value next to the 6200-00 Cyclic time object
≠
0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the
6200-00 Cyclic time
object; otherwise, if the value
next to the
6200-00 Cyclic time
object = 0, the PDO message is not
sent.
NOTE
Please refer to the “7 - Setting-up” section on page 79 for an example of how
the
1800 TPDO communication parameter 1
object is to be set.
1801 TPDO communication parameter 2
PDO2 message is used by default for synchronous transmission of the position
value. For more information refer to the “6.6 PDO objects” section on page 41.

01 COB-ID of TPDO2
[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 0280h (no RTR, COB-ID)
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 49 of 88