Data Sheet

CANopen Interface
180 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
Each of the 4 TPDOs can be configured to be sent at user-defined periodic intervals. This is
done using the CTPS parameter (See “CTPS - CANOpen TPDO Send Rate” on page 363).
TABLE 17-1. Commands mapped on TPDOs
TPDO Object Index-Sub Size Object Mapped
TPDO1 0x2106-1 S32 User VAR 1
0x2106-2 User VAR 2
TPDO2 0x2106-3 S32 User VAR 3
0x2106-4 User VAR 4
TPDO3 0x2106-5 S32 User VAR 5
0x2106-6 User VAR 6
TPDO4 0x2106-7 S32 User VAR 7
0x2106-8 User VAR 8
S32: signed 32-bit word
Receive Process Data Object (RPDO) Messages
RPDOs are configured to capture runtime data destined to the controller.
RPDOs are CAN frames identified by their 11-bit header.
4 bits 7 bits
} }
Object Type NodeID
RPDO1: 0x200 + Node ID
RPDO2: 0x300 + Node ID
RPDO3: 0x400 + Node ID
RPDO4: 0x500 + Node ID
Roboteq CANopen implementation supports RPDOs. Unless otherwise specified in the
product’s datasheet, data received using RPDOs are stored in 8 user variables from where
they can be processed using MicroBasic scripting.
TABLE 17-2. Commands mapped on RPDOs
RPDO Object Index-Sub Size Object Mapped
RPDO1 0x2005-9 S32 User VAR 9
0x2005-10 User VAR 10
RPDO2 0x2005-11 S32 User VAR 11
0x2005-12 User VAR 12
RPDO3 0x2005-13 S32 User VAR 13
0x2005-14 User VAR 14
RPDO4 0x2005-15 S32 User VAR 15
0x2005-16 User VAR 16
S32: signed 32-bit word