User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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• Communication error
• Application error
Object Description
Index Name Object Type Data Type
1029
h
Error behaviour Array UNSIGNED8
Table 44: Object Description (1029
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
00
h
Number of error classes ro no — 2
01
h
Communication error rw no UNSIGNED8 0 (enter stopped state)
02
h
Application error rw no UNSIGNED8 1 (remain in current state)
Table 45: Entry Description (1029
h
)
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.
• RPDO 193. . . 196 (objects 14C0
h
– 14C3
h
) for motor #3.
• RPDO 257. . . 260 (objects 1500
h
– 1503
h
) for motor #4.
• RPDO 321. . . 324 (objects 1540
h
– 1543
h
) for motor #5.
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