User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Object Description
Index Name Object Type Data Type
3003
h
Device Digital Outputs Variable ARRAY
Table 170: Object Description (3003
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Physical outputs rw yes UNSIGNED32 0
2 Output mask rw yes UNSIGNED32 0
Table 171: Entry Description (3003
h
)
4.2.57 Object 3004
h
: CAN Bit Rate
With this object it is possible to change the CAN bit rate. To do this, first write the new value to this object.
Then, store the new setting by writing the save signature to object 3006h. After that, reset the module.
The new setting then becomes active.
Object Description
Index Name Object Type Data Type
3004
h
CAN Bit Rate Variable UNSIGNED16
Table 172: Object Description (3004
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 20,50,100,125,250,500,800,1000 1000
Table 173: Entry Description (3004)
h
How to change the bit rate of a module:
• Write new bit rate in object 3004
h
.
• Write the save signature 65766173
h
to sub-index 1 of object 3006
h
.
• Reset module.
4.2.58 Object 3005
h
: Node ID
On modules that do not have address switches the node ID can be selected using this object. On modules
with address switches the node ID is normally selected using the address switches. Only when the address
switches are set to an invalid value (0 or >127) this object overrides the address switch setting.
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