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Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.14
Object 0x1800 TPDO1 Communication Parameter - Inclination CiA
Profile 410
Index
Subindex
0x1800
0x00
0x01
0x02
0x03
0x05
0x06
Table 6.15
COB ID: Bit
31
Valid bit:
0 = valid
1 = invalid
To activate/deactivate
TPDO
Table 6.16
1. Cannot be changed when PDO is currently present
34
Designation
Data type
Highest subindex
unsigned8
supported
COB ID
unsigned32 rw
Transmission
unsigned8
Type
Inhibit Timer
unsigned16 rw
Event Timer
unsigned16 rw
SYNC Start Value unsigned8
30
RTR access:
0 = permitted
1 = not permitted
Not supported
Attribute
Default value
ro
0x06
NODEID + 0x180
Only invalid bit (TPDO present) will be
stored. CAN ID is always set back to
default value
rw
0x01
Explanation for other values:
•
0x00: Every SYNC if changed
•
0x01 ... 0xF0: Every n* SYNC mes-
sage
•
0xFE: Event-driven (manufacturer-
specific event = every 10 ms)
0x0000
Minimum interval for TPDO transmis-
sion (transmission type 0xFE). Multi-
ple of 100 µs.
0x0000
rw
0x00
29 ... 11
...
10 ... 0
1
CAN identifier
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