Object 0X1806 Tpdo7 Communication Parameter - Rotational Acceleration Rate; Object 0X1807 Tpdo8 Communication Parameter - Gravity Vector - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16
Parameterization Using the CANopen Engineering Tool with CANopen Objects
6.17 Object 0x1806 TPDO7 Communication Parameter - Rotational
Acceleration Rate
Index Subindex
0x1806 0x00
0x01
0x02
0x03
0x05
0x06
Table 6.19
6.18 Object 0x1807 TPDO8 Communication Parameter – Gravity Vector
Index Subindex
0x1807 0x00
0x01
0x02
0x03
0x05
0x06
Table 6.20
36
Designation Data type
Highest subindex unsigned8
supported
COB ID unsigned32 rw
Transmission unsigned8
Type
Inhibit Time unsigned16 rw
Event Timer unsigned16 rw
SYNC Start Value unsigned8
Designation Data type
Highest subindex unsigned8
supported
COB ID unsigned32 rw
Transmission unsigned8
Type
Inhibit Time unsigned16 rw
Event Timer unsigned16 rw
SYNC Start Value unsigned8
Attribute Default value
ro 0x06
0x80000000
TPDO is deactivated by default
rw 0xFE
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
Attribute Default value
ro 0x06
0x80000000
TPDO is deactivated by default
rw 0xFE
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