BECKHOFF AX2000 CANopen communication profile - Manual (Page 49)

4.3.2.2 Object Description
4.3.2.2.1 Object 1800-1803h: 1st-4th Transmit-PDO communcation param. (DS301)
Sub-index Description
00 h number of entries
01 h PDO COB-ID *
02 h transmission type
03 h inhibit time **
04 h CMS priority group
* After selecting a PDO higher than 2A00 h to 2A03 h , here you can define the COB-identifier that the amplifier
responds to (if a different setting is required from the default value).
** This sets a waiting time that must be observed after a PDO has been transmitted, before a new transmission
can be made (only important for event-triggered PDOs).
4.3.2.2.2 Object 1A00-1A03h: 1st-4th Transmit-PDO mapping parameter (DS301)
Sub-index Description
00 h number of configured Objects
01 h ... 08 h description of the configured Objects
4.3.2.2.3 Object 2A00-2A03h: 1st-4th Transmit-PDO select (DS301)
This Object is used to select a predefined transmit-PDO.
The Objects 1800
h
to 1803
h
1
st
to 4
th
transmit-PDO parameter and 1A00
h
to 1A03
h
1
st
to 4
th
trans-
mit-PDO mapping can then be used to define the characteristics of this PDO.
This Object enables variable mapping of predefined PDOs. The possible PDOs for selection are lis-
ted in the table in Chapter 4.3.2.
Index 2A00 h to 2A03 h
Name 1
st
to 4
th
transmit-PDO select
Object code VAR
Data type UNSIGNED8
Access rw
PDO mapping not possible
Value range 0 ... 255
Default value 0
CANopen for AX2000/2500 49
BECKHOFF
07/2007
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