User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
26 / 119
Object Description
Index Name Object Type Data Type
1400
h
– 1403
h
Receive PDO parameter RECORD RPDO CommPar
1400
h
RPDO 1 RECORD RPDO CommPar
1401
h
RPDO 2 RECORD RPDO CommPar
1402
h
RPDO 3 RECORD RPDO CommPar
1403
h
RPDO 4 RECORD RPDO CommPar
Table 43: Object Description (1400
h
)
Entry Description
Sub-index Description Access Value Range Default Value
00
h
Largest sub-index
supported
ro 2 2
01
h
COB-ID used by
PDO
rw 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
02
h
Transmission type rw UNSIGNED8 Index 1400
h
: FF
h
Index 1401
h
: FF
h
Index 1402
h
: FF
h
Index 1403
h
: FE
h
Table 44: Entry Description (1400
h
)
3.1.18 Objects 1600
h
– 1603
h
: Receive PDO Mapping Parameter
These objects contain the mapping parameters for the RPDOs the device is able to receive. The sub-index
00
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 received with the corresponding RPDO. The sub-indices
from 01
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 RPDOs defined by objects 1600
h
– 1603
h
(RPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following RPDOs are used:
• RPDO 65. . . 68 (objects 1640
h
– 1643
h
) for motor #1.
• RPDO 129. . . 132 (objects 1680
h
– 1683
h
) for motor #2.
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