CANopen Programmer's Manual - Maccon.de

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1: Introduction CANopen Programmer’s Manual 1.3: Objects that Define SDOs and PDOs Contents of this Section This section describes objects and sub-index objects used to configure SDOs and PDOs. They include: Server SDO Parameters Index 0x1200 ..................................................................................................... 31 SDO Receive COB-ID Index 0x1200, Sub-Index 1 ............................................................................. 31 SDO Transmit COB-ID Index 0x1200, Sub-Index 2 ............................................................................. 31 Receive PDO Communication Parameters Index 0x1400 – 0x1407 ........................................................ 31 PDO COB-ID Index 0x1400 – 7, Sub-Index 1 ....................................................................... 31 PDO Type Index 0x1400 – 7, Sub-Index 2 ....................................................................... 32 Receive PDO Mapping Parameters Index 0x1600 – 0x1607 .................................................................... 32 Number Of Mapped Objects Index 0x1600 – 7, Sub-index 0 ................................................................ 32 PDO Mapping Index 0x1600 – 7, Sub-Index 1 – 8 ................................................................. 32 Receive PDO Mapping Parameters Index 0x1700.................................................................................... 33 Number Of Mapped Objects Index 0x1700, Sub-index 0 ...................................................................... 33 PDO Mapping Index 0x1700, Sub-Index 1 – 4 ....................................................................... 33 Receive PDO Mapping Parameters Index 0x1701.................................................................................... 34 Number Of Mapped Objects Index 0x1701, Sub-index 0 ...................................................................... 34 PDO Mapping Index 0x1701, Sub-Index 1 – 3 ....................................................................... 34 Receive PDO Mapping Parameters Index 0x1702.................................................................................... 34 Number Of Mapped Objects Index 0x1702, Sub-index 0 ...................................................................... 34 PDO Mapping Index 0x1702, Sub-Index 1 – 2 ....................................................................... 35 Transmit PDO Communication Parameters Index 0x1800 – 0x1807 ....................................................... 35 PDO COB-ID Index 0x1800 – 7, Sub-index 1 ....................................................................... 35 PDO type Index 0x1800 – 7, Sub-index 2 ....................................................................... 36 Transmit PDO Mapping Parameters Index 0x1A00 – 0x1A07 ................................................................. 37 Number Of Mapped Objects Index 0x1A00 – 7, Sub-index 0 ............................................................... 37 PDO Mapping Index 0x1A00 – 7, Sub-Index 1 – 8 ................................................................ 37 Transmit PDO Mapping Parameters Index 0x1B00 ................................................................................. 38 Number Of Mapped Objects Index 0x1B00, Sub-index 0 ..................................................................... 38 PDO Mapping Index 0x1B00, Sub-Index 1 – 5 ...................................................................... 38 30 Copley Controls
CANopen Programmer’s Manual 1: Introduction SERVER SDO PARAMETERS INDEX 0X1200 Type Access Units Range Map PDO Memory Record RO - - NO - Description Holds the COB-ID (communication object ID, also known as CAN message ID) values used to access the amplifier's SDO. Sub-index 0 contains the number of sub-elements of this record. SDO RECEIVE COB-ID INDEX 0X1200, SUB-INDEX 1 Type Access Units Range Map PDO Memory Unsigned 32 RO - 0x600-0x67f NO - Description CAN object ID used by the amplifier to receive SDO packets. The value is 0x600 + the amplifier's CAN node ID. SDO TRANSMIT COB-ID INDEX 0X1200, SUB-INDEX 2 Type Access Units Range Map PDO Memory Unsigned 32 RO - 0x580-0x5ff NO - Description This value gives the CAN object ID used by the amplifier to transmit SDO packets. The value is 0x580 + the amplifier's CAN node ID. RECEIVE PDO COMMUNICATION PARAMETERS INDEX 0X1400 – 0X1407 Type Access Units Range Map PDO Memory Record RW - - NO - Description These objects allow configuration of the communication parameters of each of receive PDO. Subindex 0 contains the number of sub-elements of this record. PDO COB-ID INDEX 0X1400 – 7, SUB-INDEX 1 Type Access Units Range Map PDO Memory Unsigned 32 RW - See Default Values, below. NO R Description CAN message ID used by the PDO. The ID is formatted as follows: Bit Description 0-10 Give the 11-bit identifier for standard (CAN 2.0A) identifiers, or the lower 11 bits for extended (CAN 2.0B) identifiers. 11-28 Give the upper 18 bits of extended identifiers. For standard identifiers these bits should be written as zeros. 29 Defines the identifier format. This bit is clear for standard (11-bit) identifiers, and set for extended (29-bit) identifiers. 30 Reserved for future use. 31 Identifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed. Default Values The default values for this object are specified in the DS-301 CANopen specification. These values are: Index Default ID 0x1400 0x00000200 + amplifier CAN node ID. 0x1401 0x00000300 + amplifier CAN node ID. 0x1402 0x00000400 + amplifier CAN node ID. Copley Controls 31
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