ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 14)

Index Object Name
0040 DEFTYPE PVT DataPar
0041 DEFTYPE PT DataPar
0042 DEFTYPE Binary interpreter query
0043 DEFTYPE Binary interpreter command
0044 DEFTYPE DSP 402 PV data record
0081 DEFTYPE DSP 402 interpolated data configuration record
Table 2-3: Data Types
Note: Data Objects 0002 to 0004 are used as map able “dummy” entries.
Communication Parameter Record Object 0x20
Index Sub-index Field in PDO Communication Parameter Record Data Type
0020h 0h
Number of supported entries in record UNSIGNED8
1h COB-ID UNSIGNED32
2h Transmission type UNSIGNED8
3h Inhibit time UNSIGNED16
4h Reserved UNSIGNED8
5h Event timer UNSIGNED16
PDO Mapping Parameter Record Object 0x21
Index Sub-index Field in PDO Parameter Mapping Record Data Type
0021h 0h Number of mapped objects in PDO UNSIGNED8
1h First object to be mapped UNSIGNED32
2h Second object to be mapped UNSIGNED32
… … … …
40h 64th object to be mapped UNSIGNED32
The four device-specific data types used by SimplIQ digital servo drives are as follows:
PVT DataPar Object 0x40
MSB LSB
Time (UNSIGNED8) Velocity (SIGNED24) Position (SIGNED32)
PT DataPar Object 0x41
MSB LSB
Position 2 (SIGNED32) Position 1 (SIGNED32)
CANopen DS 301 Implementation Guide CANopen Basics
MAN-CAN301IG (Ver. 2.1)
2-5