User`s manual

SECTION 6: CANOPEN INTERFACE
DS2100 User's Manual
C27750-001 PAGE 6-25
6.13 Additional Functionality Configuration
The additional functionality described in this section is not specified in the CANopen standard DS301.
6.13.1 CAN Configuration Parameter
The parameter can_configuration (index 0x2008, sub_index 0) is used to configure the additional functionality. The
parameter is a bit mask with the individual bit definitions as shown in the table below:
Bit Description
7 (MSB) Reserved
6 Reserved
5 Transmit type 254/255 PDO’s only if data has changed
4 Calculate SYNC period
3 Auto-start (transition to Operational state without start node command)
2 Transmit SYNC message
1 Reserved
0 (LSB) Transmit Boot-Up Complete message
The default value for the parameter can_configuration
is 1.
The following sections describe the effects of setting the configuration bits.
6.13.2 Boot-Up Complete
If bit 0 of parameter can_configuration is set to 0 then the Boot-Up Complete message is not transmitted.
If bit 0 of parameter can_configuration
is set to 1 then the Boot-Up Complete message is transmitted. This is the default
state because the boot-up complete message is specified in DS301 as mandatory.