User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 22
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Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
03
h
Mapping entry 3
rw
no
UNSIGNED32
Index 1600
h
: 0
Index 1601
h
: 0
Index 1602
h
: 0
Index 1603
h
: 0
Index 1605
h
: 0
3.1.20 Objects 1800
h
-1805
h
: Transmit PDO Communication Parameter
These objects contain the communication parameters for the PDOs the device is able to transmit.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
1800
h
-1805
h
Transmit PDO communication
parameter
RECORD
PDO CommPar
1800
h
TPDO 1 transmit
communication parameter
RECORD
PDO CommPar
1801
h
TPDO 2 transmit0
communication parameter
RECORD
PDO CommPar
1802
h
TPDO 3 transmit
communication parameter
RECORD
PDO CommPar
1803
h
TPDO 4 transmit
communication parameter
RECORD
PDO CommPar
1805
h
TPDO 6 transmit
communication parameter
RECORD
PDO CommPar
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Largest sub-index supported
ro
no
2… 5
Number of
entries: 5
5
01
h
TPDO 1-4, 6: COB-ID
rw
no
UNSIGNED32
Index 1800
h
: 180
h
+ Node-ID
Index 1801
h
: 280
h
+ Node-ID
Index 1802
h
: 380
h
+ Node-ID
Index 1803
h
: 480
h
+ Node-ID
Index 1805
h
: 0
02
h
Transmission type
rw
no
UNSIGNED8
Index 1800
h
: ff
h
Index 1801
h
: ff
h
Index 1802
h
: 1
Index 1803
h
: 1
Index 1805
h
: 1
03
h
Inhibit time
rw
no
UNSIGNED16
0
04
h
Compatibility entry
ro
no
UNSIGNED8
0
05
h
Event timer
rw
no
0 not used
UNSIGNED16
0