NORD Drivesystems BU0260 - Manual (Page 96)

Supplementary Manual CANopen for NORDAC SK 20E
96 Subject to technical amendments BU 0260 GB
These objects are stored with the aid of SDO transfers:
Map object 0x3000
CAN-ID Data
Transmit 0x0600 0x23 00 1A 01 10 01 00 30
 Set object 0x1A00 Sub-index 1 to object 0x3000 Sub-index 1 and 16 bit data width
Map object 0x3002
CAN-ID Data
Transmit 0x0600 0x23 00 1A 02 10 03 02 30
 Set object 0x1A00 Sub-index 2 to object 0x3002 Sub-index 3 and 16 bit data width
Number of mapping objects = 2, enter into Sub-index 0
CAN-ID Data
Transmit 0x0600 0x2F 00 1A 00 02 xx xx xx
Receive 0x0580 0x60 00 1A 00 xx xx xx xx
Change communication parameters
Deactivation of Transmit PDO 1
In order to change the communication parameters, the Transmit PDO 1 which was prepared in the example
above must be deactivated.
To do this, the value 0x80000000 must be written into the communication object of the Transmit PDO1
(Transmit PDO communication parameter, Index 0x1800, Sub-index 01).
CAN-ID Data
Transmit 0x0600 0x23 00 18 01 00 00 00 80
Receive 0x0580 0x60 00 18 01 xx xx xx xx
Setting the communication parameters for Transmit PDO1
In the object with the index 0x1800, Sub-index 1 to 3 (Transmit PDO communication parameter) the
communication parameters must now be written into the structure.
Here, Transmission Type 3 (synchronous transmission with each 3rd SYNC object) is defined.
TxPDO communication parameter, Index 0x1800
Sub-index Value Significance
0 3 Number of entries
1 0x0432 COB-ID used by PDO
2 3 Transmission type
3 0 Inhibit time
Sub-index 3: Inhibit time = 0
CAN-ID Data
Transmit 0x0600 0x2B 00 18 03 00 00 xx xx
Receive 0x0580 0x60 00 18 03 xx xx xx xx