Applied-motion ST10-C-CE Manual de usuario descargar pdf (Pagina 23)

920-0025 Rev K

3/5/2015

CANopen User Manual

0x1005 COB-ID SYNC message

Index 1005h denes the COB-ID of the Synchronisation Object (SYNC). Further, it denes

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 Identier

29-bit-ID 0/1 0/1 1 29 -bit Identier

Figure 6: Structure of TIME COB-ID entry

bit number value meaning

31 (MSB) 0

Device does not consume TIME message

Device consumes TIME message

30 0

Device does not produce TIME message

Device produces TIME message

29 0

11-bit ID (CAN 2.0A)

29-bit ID (CAN 2.0B)

28 -11 0

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 rst 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

1 2 ... 18 19 20 21 22 23 24 25 26 27 28 ... 100 101

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Applied-motion ST10-C-CE Manual de usuario Pagina 23