User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
28 / 119
definition, set this bit to inactivate the PDO.
Sub-index 02
h
contains the transmission type of the RPDO. This can be FF
h
or FE
h
for event-driven, or 00
h
or 01
h
for synchronous.
Sub-index 03
h
contains the inhibit time, given in milliseconds. After a TPDO has been sent, it will not be
sent again before the inhibit time has elapsed.
Sub-index 04
h
is not used.
Sub-index 05
h
contains the event timer value in milliseconds. When this is set to a value greater than 0 the
TPDO will be sent repeatedly each time the event timer has elapsed. For example, when this value is set to
250, the TPDO will be sent every 250ms.
The TPDOs defined by objects 1800
h
– 1803
h
(TPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following TPDOs are used:
• TPDO 65. . . 68 (objects 1840
h
– 1843
h
) for motor #1.
• TPDO 129. . . 132 (objects 1880
h
– 1883
h
) for motor #2.
Object Description
Index Name Object Type Data Type
1800
h
– 1803
h
Transmit PDO communication parameter RECORD TPDO CommPar
1800
h
TPDO 1 RECORD TPDO CommPar
1801
h
TPDO 2 RECORD TPDO CommPar
1802
h
TPDO 3 RECORD TPDO CommPar
1803
h
TPDO 4 RECORD TPDO CommPar
Table 47: Object Description (1800
h
)
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