Datalogic AMT58 Series Manual page 318

AMT58x-CB CANopen®
1801 PDO2 parameters
PDO2 message is used by default for synchronous transmission of
the position value.
 01 COB-ID of the PDO2 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level = 1),
when the power is turned on, this object is always forced to the
default value. Otherwise, if the node address is set via software
(i.e. all dip-switches for setting the node have LOW logic level = 0)
it retains the set value, unless a software procedure for setting a
new address is forced at power on.
Default = 4000 0280h+NodeID (no RTR, COB-ID)
 02 Transmission type [Unsigned8, rw]
Default = 01h(synchronous
command)
Position value is transmitted after a set number of SYNC
commands.
Interval in SYNC commands must be set in object
parameters, sub 2.
1802 PDO3 parameters
PDO3 message is used by default for synchronous transmission of
the position value.
 01 COB-ID of the PDO3 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level = 1),
when the power is turned on, this object is always forced to the
default value. Otherwise, if the node address is set via software
(i.e. all dip-switches for setting the node have LOW logic level = 0)
it retains the set value, unless a software procedure for setting a
new address is forced at power on.
Default = C000 0380h+NodeID (disable, no RTR)
 02 Transmission type [Unsigned8, rw]
Default = 01h (synchronous transmission at each SYNC
command).
Position value is transmitted after a set number of SYNC
commands.
Interval in SYNC commands must be set in object
parameters, sub 2.
1803 PDO4 parameters
PDO4 is used by default for cyclic transmission of the velocity value.
See object 6200-00 Cyclic time
 01 COB-ID of PDO4 [Unsigned32, rw]
If the node address is set using the internal dip-switches (i.e. at
least one dip-switch for setting the node has HIGH logic level = 1),
when the power is turned on, this object is always forced to the
24
transmission
for setting the cyclic timer.
at each SYNC
1801 PDO2
1802 PDO3