0X1005/0 Cob-Id Sync Message; 0X1006/0 Communication Cycle Period - BONFIGLIOLI Vectron Active Cube User Manual

12.2.3

0x1005/0 COB-ID SYNC Message

Index Sub-index
0x1005 0
Object 0x1005
well as whether the CANopen
The default value of this object is 128 (identifier = 128, SYNC message not generat-
ed).
Bit 31
X
Bit 31:
Bit 30:
Bit 29:
Bit 0 ... 10:
Example:
Read Request
Reply
Write Access
Reply
CB: Control byte
12.2.4

0x1006/0 Communication Cycle Period

Index Sub-index
0x1006 0
communication cycle period
The
messages. The SYNC message is used by the inverter for synchronisation of the mo-
tion control system to the SYNC message. This is especially important for the interpo-
lated position mode.
The value for
Values smaller than 20000 (20 ms) are allowed.
The synchronization of the inverter to an external clock has to be met under the con-
dition, that at least one RxPDO or TxPDO is defined as synchronous object and is ac-
tivated. The definitions of the TxPDO / RxPDO objects can be changed via objects
0x1400
04/13
Meaning
COB-ID SYNC Message
COB-ID SYNC message
®
Bit 30 Bit 29
gen frame
X = don't care
0 = SYNC message not generated
1 = SYNC message generated
0 = 11 bit ID
1 = 29 bit ID NOT ALLOWED
11 bit CAN-ID
COB ID CB
601 40
581 43
601 23
581 60
SI: Sub Index All values in hexadecimal without leading 0x
Meaning
Communication Cycle Period
communication cycle period
/ 0x1800.
CM-CAN ACU
Data type
Unsigned 32
defines the identifier for the SYNC message as
device generates the SYNC.
Object 0x1005/0
Bit 11 ... 28
0
Index SI Data
05 10 00 00 00 00 00
05 10 00 80 00 00 00
05 10 00 81 00 00 00
05 10 00 00 00 00 00
Data type
Unsigned 32
is the time distance between two consecutive SYNC
is given in multiples of micro seconds.
Access Map Def.-Val
r/w No 0
Bit 0 ... 10
11 bit CAN-ID
Access Map Def.-Val
r/w No 0
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