CANopen Programmer's Manual - Maccon.de

1: Introduction CANopen Programmer’s Manual
Default Values
The default values for this object are specified in the DS-301 CANopen specification. These
values are:
Index Default ID
0x1800 0x00000180 + amplifier CAN node ID.
0x1801 0x00000280 + amplifier CAN node ID.
0x1802 0x00000380 + amplifier CAN node ID.
0x1803 0x00000480 + amplifier CAN node ID.
0x1804 0x80000000
0x1805 0x80000000
0x1806 0x80000000
0x1807 0x80000000
PDO TYPE INDEX 0X1800 – 7, SUB-INDEX 2
Type Access Units Range Map PDO Memory
Unsigned 8 RW - See Description, below EVENT R
Description
This object identifies which events trigger a PDO transmission:
Code Behavior
0 The PDO is transmitted on the next SYNC message following a PDO event. See PDO Events, below, for a
description of a PDO event.
1-240 The PDO is transmitted every N SYNC messages, where N is the PDO type code. For example, a PDO with
type code 7 would be transmitted on every 7th SYNC message.
241-251 Reserved.
252 The PDO is transmitted on the SYNC message following a remote request.
253 The PDO is transmitted immediately in response to a remote request.
254-255 The PDO is transmitted immediately in response to an internal PDO event.
PDO Events
Some objects in the object dictionary have special PDO events associated with them. If such an
object is mapped to a transmit PDO, then the PDO may be configured with a code that relies on
this event to trigger its transmission. The codes that use PDO events are 0 and 255.
An example of an object that has a PDO event associated with it is the Device Status object (index
0x6041). This object triggers an event to any mapped transmit PDO each time its value changes.
A transmit PDO which included this object in its mapping would have its event signaled each time
the status register changed.
Most objects in the object dictionary do not have PDO events associated with them. Those that do
are identified by the word EVENT in the PDO Mapping fields of their descriptions.
36 Copley Controls