User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-7
Index Name Comment
0x1000 device type Value =0x20192, (servo drive + profile = 0x192 = 402)
0x1001 error register Bit 5 the device profile specific bit is not used.
0x1400 / rpdo Comm. Set-up
0x1400 / 1 pdo 1
st
receive cob-id 0x40000201 (No RTR, 200 + Nodide)
0x1400 / 2 pdo 1
st
receive transmission type 255 (Profile Specific)
0x1401 / 1 pdo 2
nd
receive cob-id 0xC0000301 (Inhibit, No RTR, 300 + Nodide)
0x1401 / 2 pdo 2
nd
receive transmission type 255 (Profile Specific)
0x1402 / 1 pdo 3
rd
receive cob-id 0xC0000401 (Inhibit,No RTR, 400 + Nodide)
0x1402 / 2 pdo 3
rd
receive transmission type 255 (Profile Specific)
0x1403 / 1 pdo 4
th
receive cob-id 0xC0000501 (Inhibit,No RTR, 500 + Nodide)
0x1403 / 2 pdo 4
th
receive transmission type 255 (Profile Specific)
0x1600 / rpdo mapping
0x1600/0 pdo 1
st
receive number elements Default value = 1
0x1600 / 1 pdo 1
st
receive mapping 0x60,40,00,10 (ctl402)
0x1601 / 0 pdo 2
nd
receive number elements 2
0x1601 /
1+2
pdo 2
nd
receive mapping 0x60,40,00,10 (ctl402)
0x60,60,00,08 (modopr)
0x1602 / 0 pdo 3
rd
receive number elements 2
0x1602 /
1+2
pdo 3
rd
receive mapping 0x60,40,00,10 (ctl402)
0x60,7a,00,20 (ds4tarpos)
0x1603 / 0 pdo 4
th
receive number elements 2
0x1603 /
1+2
pdo 4
th
receive mapping 0x60,40,00,10 (ctl402)
0x60,ff,00,20 (vlmtarvel)
0x1800 / tpdo Comm. Set-up
0x1800 / 1 pdo 1
st
transmit cob-id 0x40000181 (No RTR, 180 + Nodide)
0x1800 / 2 pdo 1
st
transmit transmission type 255 (Profile Specific)
0x1801 / 1 pdo 2
nd
transmit cob-id 0xC0000281 (Inhibit, No RTR, +280 + Nodide)
0x1801 / 2 pdo 2
nd
transmit transmission type 255 (Profile Specific)
0x1802 / 1 pdo 3
rd
transmit cob-id 0xC0000381 (Inhibit, No RTR, + 381 + Nodide)
0x1802 / 2 pdo 3
rd
transmit transmission type 255 (Profile Specific)
0x1803 / 1 pdo 4
th
transmit cob-id 0xC0000481 (Inhibit, No RTR, 480 + Nodide)
0x1803 / 2 pdo 4
th
transmit transmission type 255 (Profile Specific)
0x1A00 / tpdo mapping
0x1A00 / 0 pdo 1
st
transmit number elements 1
0x1A00 / 1 pdo 1
st
transmit mapping 0x60,41,00,10 (sta402)
0x1A01 / 0 pdo 2
nd
transmit number elements 2
0x1A01 / 1 pdo 2
nd
transmit mapping 0x60,41,00,10 (sta402)
0x60610008 (modoprdis)
0x1A02 / 0 pdo 3
rd
transmit number elements 2
0x1A02 / 1 pdo 3
rd
transmit mapping 0x60,41,00,10 (sta402)
0x60,64,00,20 (pcposact)
0x1A03 / 0 pdo 4
th
transmit number elements 2
0x1A03 / 1 pdo 4
th
transmit mapping 0x60,41,00,10 (sta402)
0x60,6c,00,20 (vcvelact)
Table 7.2 List of predefined objects