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

number of entries

PDO COB-ID *

transmission type

inhibit time **

CMS priority group

* After selecting a PDO higher than 2A00

to 2A03

, 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

number of configured Objects

... 08

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

to 1803

to 4

transmit-PDO parameter and 1A00

to 1A03

to 4

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

to 2A03

Name

to 4

transmit-PDO select

Object code

VAR

Data type

UNSIGNED8

Access

PDO mapping

not possible

Value range

0 ... 255

Default value

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