Applied Motion ST10-C-CE - Manual (Page 32)

32 920-0025 Rev K
3/5/2015
CANopen User Manual
Sub-index 3h contains the inhibit time. This time is a minimum interval for PDO
transmission. The value is defined as multiple of 100μs. It is not allowed to change the value
while the PDO exists (Bit 31 of sub-index 1 is 0).Sub-index 4h is reserved. It does not have to
be implemented, in this case read or write access leads to Abort SDO Transfer (abort code:
0609 0011h).
In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists
for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event
timer elapses as multiple of 1 ms of the entry in sub-index 5h of the TPDO. This event will
cause the transmission of this TPDO in addition to otherwise defined events. The occurrence
of the events set the timer. Independent of the transmission type the RPDO event timer is used
recognize the expiration of the RPDO.
Object Type Sub Number
Record 3
Subindex Name Data Type
Access
Type
PDO
Mapping
COS Default value
00 max sub-index UNSIGNED8 ro no no 2
01 COB-ID used by
RPDO
UNSIGNED32 rw no no $NODEID+0x200 2
02 transmission type UNSIGNED8 rw no no 255
0x1400 - 0x1403 RPDO communication parameter
max sub-index
COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO
Transmission type
value = 0-240: receiving is synchronous, process after next reception of SYNC object
value = 241-253:
not used
value = 254: manufacturer specific
value = 255: asynchronous
*Note 2: Index 1400.01h Default value is 0x200+$NODEID
Index 1401.01h Default value is 0x300+$NODEID
Index 1402.01h Default value is 0x400+$NODEID
Index 1403.01h Default value is 0x500+$NODEID