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920-0025 Rev K
3/5/2015
CANopen User Manual
event timer
bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables
functionality.
SYNC start value
value = 0: Counter of the SYNC message shall not be processed.
value = 1-240: The SYNC message with the counter value equal to this value shall be
regarded as the rst received SYNC message.
Note 3: Index 1800.01h Default Value is 0x180+$NODEID
Index 1801.01h Default Value is 0x280+$NODEID
Index 1802.01h Default Value is 0x380+$NODEID
Index 1803.01h Default Value is 0x480+$NODEID
0x1A00 ~ 0x1A03 TPDO mapping parameter
Contains the mapping for the PDOs the device is able to transmit. The type of the PDO
mapping
parameter (21h) is described in 9.5.4 of CiA 301. A detailed description of the entries is
done in the section for the Receive PDO Mapping Parameter (1600h – 1603h).
Object Type Sub Number
Record 9
Subindex Name Data Type Access Type
PDO
Mapping
COS Default value
00
Number of
mapped objects
UNSIGNED8 rw no no 1
01 mapped object 1 UNSIGNED32 rw no no 0x60410010
02 mapped object 2 UNSIGNED32 rw no no 0x00000000
03 mapped object 3 UNSIGNED32 rw no no 0x00000000
04 mapped object 4 UNSIGNED32 rw no no 0x00000000
05 mapped object 5 UNSIGNED32 rw no no 0x00000000
06 mapped object 6 UNSIGNED32 rw no no 0x00000000
07 mapped object 7 UNSIGNED32 rw no no 0x00000000
08 mapped object 8 UNSIGNED32 rw no no 0x00000000
0x1A00 - 0x1A03 TPDO mapping parameter. (To change mapping, ‘Number of mapped
objects’ must be set to 0).
Number of mapped objects
mapped object (subindex 1...8)
bit 0-7: data length in bits
bit 8-15: subindex from OD
bit 16-31: index from OD
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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