CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 1: Introduction<br />
SERVER SDO PARAMETERS INDEX 0X1200<br />
Type Access Units Range Map PDO Memory<br />
Record RO - - NO -<br />
Description<br />
Holds the COB-ID (communication object ID, also known as CAN message ID) values used to<br />
access the amplifier's SDO. Sub-in<strong>de</strong>x 0 contains the number of sub-elements of this record.<br />
SDO RECEIVE COB-ID INDEX 0X1200, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RO - 0x600-0x67f NO -<br />
Description<br />
CAN object ID used by the amplifier to receive SDO packets. The value is 0x600 + the amplifier's<br />
CAN no<strong>de</strong> ID.<br />
SDO TRANSMIT COB-ID INDEX 0X1200, SUB-INDEX 2<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RO - 0x580-0x5ff NO -<br />
Description<br />
This value gives the CAN object ID used by the amplifier to transmit SDO packets. The value is<br />
0x580 + the amplifier's CAN no<strong>de</strong> ID.<br />
RECEIVE PDO COMMUNICATION PARAMETERS INDEX 0X1400 – 0X1407<br />
Type Access Units Range Map PDO Memory<br />
Record RW - - NO -<br />
Description<br />
These objects allow configuration of the communication parameters of each of receive PDO. Subin<strong>de</strong>x<br />
0 contains the number of sub-elements of this record.<br />
PDO COB-ID INDEX 0X1400 – 7, SUB-INDEX 1<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RW - See Default Values, below. NO R<br />
Description<br />
CAN message ID used by the PDO. The ID is formatted as follows:<br />
Bit Description<br />
0-10 Give the 11-bit i<strong>de</strong>ntifier for standard (CAN 2.0A) i<strong>de</strong>ntifiers, or the lower 11 bits for exten<strong>de</strong>d (CAN 2.0B)<br />
i<strong>de</strong>ntifiers.<br />
11-28 Give the upper 18 bits of exten<strong>de</strong>d i<strong>de</strong>ntifiers. For standard i<strong>de</strong>ntifiers these bits should be written as zeros.<br />
29 Defines the i<strong>de</strong>ntifier format. This bit is clear for standard (11-bit) i<strong>de</strong>ntifiers, and set for exten<strong>de</strong>d (29-bit)<br />
i<strong>de</strong>ntifiers.<br />
30 Reserved for future use.<br />
31 I<strong>de</strong>ntifies the PDO as valid if clear. If set, the PDO is disabled and its mapping may be changed.<br />
Default Values<br />
The <strong>de</strong>fault values for this object are specified in the DS-301 <strong>CANopen</strong> specification. These<br />
values are:<br />
In<strong>de</strong>x Default ID<br />
0x1400 0x00000200 + amplifier CAN no<strong>de</strong> ID.<br />
0x1401 0x00000300 + amplifier CAN no<strong>de</strong> ID.<br />
0x1402 0x00000400 + amplifier CAN no<strong>de</strong> ID.<br />
Copley Controls 31