User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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3.1.18 Objects 1400
h
– 1403
h
: Receive PDO Communication Parameter
This object contains the communication parameters for the RPDOs which the device is able to receive. The
sub-index 00
h
contains the number of valid entries within the communication record. Its value normally is
2, as this object consists of two other entries.
Sub-index 01
h
contains the COB-ID used by this PDO (in bits 10. . . 0). Bit 30 (RTR bit) defines if this PDO
uses RTRs. As RTRs are not supported for PDOs by this CANopen implementation, this bit must always
be set in order to turn off RTR support for this PDO. Bit 31 defines if this PDO is active or not. If this bit
is set, the PDO is inactive, and if this bit is clear, the PDO is active. Before making any changes to a PDO
definition, set this bit to inactivate the PDO.
Sub-Index 02
h
contains the transmission type of the RPDO. This can be FF
h
or FE
h
for event-driven, or 00
h
for synchronous.
The RPDOs defined by objects 1400
h
– 1403
h
(RPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following RPDOs are used:
• RPDO 65. . . 68 (objects 1440
h
– 1443
h
) for motor #1.
• RPDO 129. . . 132 (objects 1480
h
– 1483
h
) for motor #2.
Object Description
Index Name Object Type Data Type
1400
h
– 1403
h
Receive PDO parameter RECORD RPDO CommPar
1400
h
RPDO 1 RECORD RPDO CommPar
1401
h
RPDO 2 RECORD RPDO CommPar
1402
h
RPDO 3 RECORD RPDO CommPar
1403
h
RPDO 4 RECORD RPDO CommPar
Table 46: Object Description (1400
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Largest sub-index
supported
ro 2 2
01
h
COB-ID used by
PDO
rw UNSIGNED32 Index 1400
h
: 200
h
+ Node-ID
Index 1401
h
: 300
h
+ Node-ID
Index 1402
h
: 400
h
+ Node-ID
Index 1403
h
: 500
h
+ Node-ID
02
h
Transmission type rw UNSIGNED8 Index 1400
h
: FF
h
Index 1401
h
: FF
h
Index 1402
h
: FF
h
Index 1403
h
: FE
h
Table 47: Entry Description (1400
h
)
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