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SFA-5000 • SFA-10000 CANopen®
NOTE
- The transmission of PDO1, PDO2, PDO3 and PDO4 messages can be enabled (or
disabled) by setting to “0” (or “1”) the most significant bit (msb) used by the
PDO (
180xh
, sub1 object).
- The cyclic transmission or synchronous transmission can be modified by
setting the
180xh
sub 2 object. If you need the position value (or the velocity
value) to be transmitted every “n” SYNC commands, you must set the “n” value
next to the
180xh sub 2 object:
01h: synchronous transmission at each SYNC command;
02h: synchronous transmission every two SYNC commands;
…
FEh: cyclic transmission:
if
6200-00 Cyclic time
≠ 0  “cyclic transmission”: the cycle time is
set next to the
6200-00 Cyclic time
object;
if
6200-00 Cyclic time
= 0  the PDO message is not sent.
1A00-01 TPDO mapping parameter 1
[Unsig32, rw]
This object contains the mapping of the PDO the encoder uses to transmit the
position value, according to the DS 406 device profile specifications.
This object describes the content of the PDO by its index, sub-index and length.
The length contains the length of the application object expressed in bits.
31 24 23 16 15 8 7 0
Index Sub-Index Length
MSB LSB
Default = 6004 0020h =
6004-00 Position value
object, the length is 32 bits
1A01-01 TPDO mapping parameter 2
[Unsig32, rw]
See the
1A00-01 TPDO mapping parameter 1
, sub 1 object.
Default = 6004 0020h
1A02-01 TPDO mapping parameter 3
[Unsig32, rw]
See the
1A00-01 TPDO mapping parameter 1
, sub 1 object.
Default = 6004 0020h
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 54 of 88