Applied-motion ST10-C-CE Manual de usuario descargar pdf (Pagina 30)

920-0025 Rev K

3/5/2015

CANopen User Manual

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 client

to server

UNSIGNED32 ro no no 0x600+$NODEID

02 COB-ID server

to client

UNSIGNED32 ro no no 0x580+$NODEID

0x1400~0x1403 RPDO communication

Contains the communication parameters for the PDOs the device is able to receive. The

type of the PDO communication parameter (20h) is described in CiA 301 section 9.5.4. The

sub-index 0h contains the number of valid entries within the communication record. Its value

is at least 2. If inhibit time is supported, the value is 3. At sub-index 1h resides the COB-ID of

the PDO. This entry has been dened as UNSIGNED32 in order to allow 11-bit CAN Identiers

(CAN 2.0A) as well as for 29-bit CAN identiers (CAN 2.0B).

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 9: Structure of PDO COB-ID entry

bit number value meaning

31 (MSB) 0 PDO exists / is valid

1 PDO does not exist / is not valid

30 0 RTR allowed on this PDO

1 no RTR allowed on this PDO

29 0 11-bit ID (CAN 2.0A)

1 29-bit ID (CAN 2.0B)

28-11 0 if bit 29=0

X if bit 29=1: bits 28-11 of 29-bit-

COB-ID

10-0 (LSB) X bits 10-0 of COB-ID

Table 10: Description of PDO COB-ID entry

1 2 ... 25 26 27 28 29 30 31 32 33 34 35 ... 100 101

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Applied-motion ST10-C-CE Manual de usuario Pagina 30