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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 dened 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 dened 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 $NODEID+0x200
2
02 transmission type UNSIGNED8 rw no no 255
0x1400 - 0x1403 RPDO communication parameter
max sub-index
COB-ID
bit 0-10: COB-ID for PDO, to change it bit 31 must be set
bit 11-29: set to 0 for 11 bit COB-ID
bit 30: 0(1) - rtr are allowed (are NOT allowed) for PDO
bit 31: 0(1) - node uses (does NOT use) PDO
Transmission type
value = 0-240: receiving is synchronous, process after next reception of SYNC object
value = 241-253: not used
value = 254: manufacturer specic
value = 255: asynchronous
*Note 2: Index 1400.01h Default value is 0x200+$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
- Applied Motion Products 1
- CANopen Manual 1
- Introduction 2
- User Advisory: 2
- Contents 3
- List of Tables 6
- Reference Documents 8
- Commonly Used Acronyms 8
- Drive Setup 9
- CANopen BitRate & NodeID 10
- Drive Conguration 11
- Figure 4: 12
- Object Dictionary 13
- Electronic Data Sheet 14
- INTEGER16 RW Yes 16
- Table 5: CiA 402 Objects 17
- 920-0025 Rev K 18
- 3/5/2015 18
- CANopen User Manual 18
- General Purpose Registers 19
- Index (hex) Object 20
- Communication Prole 21
- COS Default value 25
- Subindex Name Default value 25
- Object Type Sub Number 30
- Manufacturer Specic Objects 38
- Device Prole 45
- 0x6041 StatusWord 46
- Mode of Operation Action 49
- Position polarity 52
- Bit number Description 56
- Appendix C - Response Codes 60
- General Mode Description 61
- Enable Prole Position Mode 61
- Set Running Parameters 61
- Starting/Stopping Motion 61
- Figure 12: Single Set-Point 62
- Enable Prole Velocity Mode 66
- Enable Drive Operation 66
- Appendix F - Homing Methods 68
- Homing Method 2 69
- Homing Method 3 69
- Homing Method 4 70
- Homing Method 5 70
- Homing Method 6 71
- Homing Method 7 71
- Homing Method 8 72
- Homing Method 9 72
- Homing Method 10 73
- Homing Method 11 73
- Homing Method 12 74
- Homing Method 13 74
- Homing Method 14 75
- Homing Methods 15 and 16 75
- Homing Method 17 76
- Homing Method 18 76
- Homing Methods 19 and 20 77
- Homing Methods 21 and 22 78
- Homing Methods 23 and 24 79
- Homing Methods 25 and 26 80
- Homing Methods 27 and 28 81
- Homing Methods 29 and 30 82
- Homing Methods 31 and 32 83
- Homing Method 33 83
- Homing Method 34 84
- Homing Method 35 84
- Enable Prole Torque Mode 85
- Starting/Stopping Torque 86
- Current Verication - Example 86
- Appendix H - Q Program Mode 88
- More Information 89
- NMT Mode NMT Control 90
- NMT Status Code 90
- (Heartbeat) 90
- PDO Access 91
- TPDO Transmission Types 92
- PDO Mapping Procedure 93
- Default PDO Mapping - Stepper 94
- Default PDO Mapping - Servo 94
- PDO COB-ID 95
- Control Word of Homing Mode 97
- Status Word of Homing Mode 97
- Control Word of Q Mode 98
- Status Word of Q Mode 98
- Appendix L – Example Programs 99
- Prole Velocity Mode 100
- Homing Mode 100
- Normal Q Mode 101
- Sync Q Mode 101
- PDO Mapping 101
- Applied Motion Products, Inc 101
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