User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 21
www.trinamic.com
3.1.18 Objects 1400
h
-1405
h
: Receive PDO Communication Parameter
This object contains the communication parameters for the PDOs the device is able to receive. The sub-
index 0
h
contains the number of valid entries within the communication record. Its value is at least 2.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1400
h
-1405
h
Receive PDO parameter
RECORD
PDO CommPar
1400
h
RPDO 1
RECORD
PDO CommPar
1401
h
RPDO 2
RECORD
PDO CommPar
1402
h
RPDO 3
RECORD
PDO CommPar
1403
h
RPDO 4
RECORD
PDO CommPar
1405
h
RPDO 6
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub-index
supported
ro
no
Number of
entries: 2
2
01
h
COB-ID used by
PDO
rw
no
UNSIGNED32
Index 1400
h
: 200
h
+ Node-ID
Index 1401
h
: 300
h
+ Node-ID
Index 1402
h
: 400
h
+ Node-ID
Index 1403
h
: 500
h
+ Node-ID
Index 1405
h
: 0
02
h
Transmission type
rw
no
UNSIGNED8
Index 1400
h
: Ff
h
Index 1401
h
: Ff
h
Index 1402
h
: Ff
h
Index 1403
h
: Ff
h
Index 1405
h
: Ff
h
3.1.19 Objects 1600
h
-1605
h
: Receive PDO Mapping
This object contains the mapping for the PDOs the device is able to receive. The sub-index 0
h
contains the
number of valid entries within the mapping record. This number of entries is also the number of the
application variables which shall be transmitted/received with the corresponding PDO. The sub-indices from
1
h
to the number of entries contain the information about the mapped application variables. These entries
describe the PDO contents by their index, sub-index and length. The values are hexadecimally coded.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1600
h
-1605
h
Receive PDO mapping
RECORD
PDO Mapping
1600
h
Mapping for RPDO 1
RECORD
PDO Mapping
1601
h
Mapping for RPDO 2
RECORD
PDO Mapping
1602
h
Mapping for RPDO 3
RECORD
PDO Mapping
1603
h
Mapping for RPDO 4
RECORD
PDO Mapping
1605
h
Mapping for RPDO 6
RECORD
PDO Mapping
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Number of mapped
application objects in
PDO
rw
no
1… 3
0 deactivated
Index 1600
h
: 1
Index 1601
h
: 2
Index 1602
h
: 2
Index 1603
h
: 2
Index 1605
h
: 2
01
h
Mapping entry 1
rw
no
UNSIGNED32
Index 1600
h
: 60400010
h
Index 1601
h
: 60400010
h
Index 1602
h
: 60400010
h
Index 1603
h
: 60400010
h
Index 1605
h
: 60400010
h
02
h
Mapping entry 2
rw
no
UNSIGNED32
Index 1600
h
: 0
Index 1601
h
: 60600008
h
Index 1602
h
: 607A0020
h
Index 1603
h
: 60FF0020
h
Index 1605
h
: 60420010
h