Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 33)

4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301)

This Object can be used to change the COB-ID for the SYNC message.

Index

1005

Name

COB-ID for the SYNC message

Object code

VAR

Data type

UNSIGNED32

Category

Access

PDO mapping

not possible

Value range

UNSIGNED32

Default value

80000080

The structure of the parameter is as follows:

MSB LSB

X 0/1 0 00

11-bit identifier

31 30 29 28 11 10 0

Only Bits 0 ... 10, 29 and 30 have any significance:

Bit Value Meaning

31 X —

0 Device not generating SYNC message

1 Device generating SYNC message

0 11 Bit ID

1 29 Bit ID

28 ... 11 X Bit 11 ... 28 of 29-bit SYNC COB-ID

10 ... 0 X Bit 0 ... 10 of SYNC COB-ID

4.2.1.7 Object 1006h: Communication Cycle Period (DS301)

This Object can be used to define the period (in μs) for the transmission of the SYNC telegram.

Index

1006

Name

Period of the communication cycle

Object code

VAR

Data type

UNSIGNED32

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 33