CANopen Programmer's Manual - Maccon.de

A: Alternative Control Sources CANopen Programmer’s Manual
Compressed Format for Uniform Master Increments
When the Cam Master increments at a constant rate, a compressed format may be used to save
RAM space.
In standard format, each master/slave increment value pair is expressed using two words, one for
the master and one for the slave.
In the compressed format, the constant master increment is stored in the table’s first data word
and the slave increments are stored in the subsequent data words.
To indicate that the compressed format is used, set bit 14 of the first data word (which contains
the master increment value). Clear bit 15.
Example: A Table in Compressed Format
Address Data Data Description
0 2 Address of the start of Cam Table 0.
1 30 Length of Cam Table 0.
2 50 The constant master increment. To indicate that this is a constant master
increment for a compressed table, bit 14 is set and bit 15 is clear.
3—31 xxxx A series of slave increment values.
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