Transmit Pdos (Txpdo) - Kollmorgen S300 Interface Manual

Kollmorgen
4.3.2

Transmit PDOs (TXPDO)

Four Transmit PDOs can be configured in the servo amplifier:
- configuration of the communication (Objects 1800-1803
- configuration of the PDO-contents (mapping, Objects 1A00-1A03
4.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
Index
Name
Object code
Data type
Category
Subindex
Name
Data type
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
Subindex
Name
Category
Access
PDO Mapping
Value Range
Default Value
CANopen for S300/S700
11/2018
1800 ... 1803 for TXPDO 1 ... 4
h h
transmit PDO parameter
RECORD
PDO CommPar
mandatory
0
number of entries
UNSIGNED8
mandatory
ro
not possible
5
5
1
COB-ID used by PDO
mandatory
rw
not possible
UNSIGNED32
Index 1800 : 40000180 + Node-ID
h h
Index 1802 : 40000380 + Node-ID
h h
2
transmission type
mandatory
rw
not possible
UNSIGNED8
FF
h
3
inhibit time
optional
rw
not possible
UNSIGNED16 (n*1/10ms)
0
h
4
reserved
optional
rw
not possible
0
0
5
event timer
optional
rw
not possible
UNSIGNED16 (0=not used, n*1/10ms)
0
h
CANopen Drive Profile
)
h
)
h
Index 1801 : 40000280
h
Index 1803 : 40000480
h
+ Node-ID
h
+ Node-ID
h
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