Applied Motion ST10-C-CE - Manual (Page 23)

23 920-0025 Rev K
3/5/2015
CANopen User Manual
0x1005 COB-ID SYNC message
Index 1005h defines the COB-ID of the Synchronisation Object (SYNC). Further, it defines
whether the device generates the SYNC. The structure of this object is shown in the following
Figure and Table:
UNSIGNED32
MSB
LSB
bits 31 30 29 28-11 10-0
11-bit-ID 0/1 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier
29-bit-ID 0/1 0/1 1 29 -bit Identifier
Figure 6: Structure of TIME COB-ID entry
bit number value meaning
31 (MSB) 0
1
Device does not consume TIME message
Device consumes TIME message
30 0
1
Device does not produce TIME message
Device produces TIME message
29 0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28 -11 0
X
if bit 29=0
if bit 29=1: bits 28-11 of 29-bit-TIME-COB-ID
10-0 (LSB) X bits 10-0 of TIME-COB-ID
Table 9: Description of SYNC COB-ID entry
Bits 29, 30 are not changeable. If a device is not able to generate SYNC messages, an
attempt to set bit 30 is responded to with an abort message (abort code: 0609 0030h). Devices
supporting the standard CAN frame type only either ignore attempts to change bit 29 or re-
spond with an abort message (abort code: 0609 0030h). The first transmission of SYNC object
starts within 1 sync cycle after setting Bit 30 to 1. Once the objects exists (Bit 30=1) you are
not allowed to change Bit 0-29.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 rw no no 0x00000080