LinMot CANopen SG5 Manual page 22

Index Sub-
Index
0h
1h-8h
Contains the mapping for RxPDO 2 See 1600h sub 1-8h for additional details.
1602h -
0h
1h-8h
Contains the mapping for RxPDO 3 See 1600h sub 1-8h for additional details.
1603h -
0h
1h-8h
Contains the mapping for RxPDO 4 See 1600h sub 1-8h for additional details.
1800h -
0h
1h
31
0: PDO is valid
1: PDO is invalid
The PDO valid/not valid bit allows to select which PDOs are used in the operational
state. Only this bit can be changed by writing to this parameter. The identifiers
themselves cannot be changed. The default ID is 180h + Node-ID.
2h
Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll-
request / poll-response) are supported. Type 250 is LinMot specific and not part of the
3h
This time is a minimum interval for PDO transmission in asynchronous modes. The
4h
5h
In asynchronous modes additionally an event time can be used for TPDOs. If an
event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to
be an event. The event timer elapses as a multiple of 1 ms . This event will cause the
transmission of this TPDO in addition to otherwise defined events.
1801h -
0h
1h
The default ID is 280h + Node-ID. See 1800h sub 1h for additional details.
2h
22 / 55
Name
Number of mapped application
objects in PDO
Number of valid mapping entries. Can be between 0 and 8.
PDO Mapping Entry 1-8
Receive PDO Mapping Parameter
2 (RxPDO 3)
Number of mapped application
objects in PDO
Number of valid mapping entries. Can be between 0 and 8.
PDO Mapping Entry 1-8
Receive PDO Mapping Parameter
3 (RxPDO 4)
Number of mapped application
objects in PDO
Number of valid mapping entries. Can be between 0 and 8.
PDO Mapping Entry 1-8
Transmit PDO Communication
Parameter 0 (TxPDO 1)
Number of Entries
COB-ID
30
0: RTR allowed
1: no RTR
allowed
Transmission type
CANopen standard. The Default is 1 (cyclic synchronous).
Inhibit time
value is defined as multiple of 100µ s.
Reserved
Event timer
Transmit PDO Communication
Parameter 1 (TxPDO 2)
Number of Entries
COB-ID
Transmission type
Access
Type
rw
rw
-
rw
rw
-
rw
rw
-
ro
ro
29 28-11
0: (11-bit All 0's
ID) if 11-bit
1: (29-bit identifier
ID)
rw
rw
rw
rw
-
ro
Ro
rw
Data Type
Unsigned8
Unsigned32
-
Unsigned8
Unsigned32
-
Unsigned8
Unsigned32
-
Unsigned8
Unsigned32
10-0
11-bit identifier
Unsigned8
Unsigned16
Unsigned8
Unsigned16
-
Unsigned8
Unsigned32
Unsigned8
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