User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Before making changes to PDO definitions, first mark the PDO as inactive by setting bit 31 of its COB-ID
(see section 3.1.18). Then, set its number of mapped PDO entries to zero (sub-index 0 of the appropriate
PDO mapping object). Now, the mapppings themself can be changed. After that, set the number of map
objects to the desired value, and finally activate the PDO by clearing bit 31 of its COB-ID.
3.1.20 Objects 1800
h
– 1803
h
: Transmit PDO Communication Parameter
This object contains the communication parameters for the TPDOs which the device is able to transmit. The
sub-index 00
h
contains the number of valid entries within the communication record. Its value normally is
5, as this object consists of five 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
or 01
h
for synchronous.
Sub-index 03
h
contains the inhibit time, given in milliseconds. After a TPDO has been sent, it will not be
sent again before the inhibit time has elapsed.
Sub-index 04
h
is not used.
Sub-index 05
h
contains the event timer value in milliseconds. When this is set to a value greater than 0 the
TPDO will be sent repeatedly each time the event timer has elapsed. For example, when this value is set to
250, the TPDO will be sent every 250ms.
The TPDOs defined by objects 1800
h
– 1803
h
(TPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following TPDOs are used:
• TPDO 65. . . 68 (objects 1840
h
– 1843
h
) for motor #1.
• TPDO 129. . . 132 (objects 1880
h
– 1883
h
) for motor #2.
Object Description
Index Name Object Type Data Type
1800
h
– 1803
h
Transmit PDO communication parameter RECORD TPDO CommPar
1800
h
TPDO 1 RECORD TPDO CommPar
1801
h
TPDO 2 RECORD TPDO CommPar
1802
h
TPDO 3 RECORD TPDO CommPar
1803
h
TPDO 4 RECORD TPDO CommPar
Table 50: Object Description (1800
h
)
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