ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 36)

5.3.6 Default Values
Default values of PDO mapping parameters are used at:
ƒ
Power up
ƒ NMT communication reset (NMT 82h)
ƒ NMT node reset (NMT 81h)
In these cases, the values of the PDO parameters receive the following:
Receive PDO 1 mapped to the DSP-402 controlword in the following manner:
Index Sub-index Name Default Value
1400h 0h Number of entries 2
1h COB-ID used by PDO 4000027Fh
2h Transmission type 255
Index Sub-index Name Default Value
1600h 0 Number of mapped entries 1
1 Controlword 6040 00 10h
Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it
changes (typically after reception of a controlword):
Index Sub-index Name Default Value
1800h 0h Number of entries 3
1h COB-ID used by PDO 4000001FFh
2h Transmission type 255
3h Inhibit time 0
Index Sub-index Name Default Value
1600h 1h Number of entries 1
Statusword 6041 00 10h
Index Sub-index Name Default Value
2F20h 1h TPDO1 asynchronous events 0
Note: The asynchronous transmission of TPDO1 reflects changes performed
3 milliseconds prior to transmission.
CANopen DS 301 Implementation Guide Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
5-7