Objects For Pdo Parametrisation - Festo CiA 402 Manual

3 CANopen access procedure
3.3.2

Objects for PDO Parametrisation

The motor controllers of the CMMS series contain a total of 2 transmit and 2 receive PDOs. The individu-
al objects for parametrisation of these PDOs are the same for all 2 TPDOs and all 2 RPDOs respectively.
For that reason, only the parameter description of the first TPDO is explicitly listed. The meaning can
also be used for the other PDOs, which are listed in table form in the following:
Index
Name
Object Code
No. of Elements
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Index
Name
Object Code
No. of Elements
28
1800
h
transmit_pdo_parameter_tpdo1
RECORD
3
01
h
cob_id_used_by_pdo_tpdo1
UINT32
rw
no
–
181 ... 1FF , bit 30 and 31 may be set
h h
C0000181
h
02
h
transmission_type_tpdo1
UINT8
rw
no
–
0 ... 8C , FE , FF
h h h
FF
h
03
h
inhibit_time_tpdo1
UINT16
rw
no
100 μs (i.e. 10 = 1 ms)
–
0
1A00
h
transmit_pdo_mapping_tpdo1
RECORD
4
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English