User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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Entry Description
Sub-index Description Access Value Range Default Value
00
h
Largest sub-index
supported
ro 5 5
01
h
COB-ID rw 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
02
h
Transmission type rw UNSIGNED8 Index 1800
h
: FF
h
Index 1801
h
: FF
h
Index 1802
h
: 01
h
Index 1803
h
: 01
h
03
h
Inhibit time rw UNSIGNED16 0
04
h
Compatibility en-
try
ro UNSIGNED8 0
05
h
Event timer rw UNSIGNED16 0
Table 48: Entry Description (1800
h
)
3.1.20 Objects 1A00
h
– 1A03
h
: Transmit PDO Mapping Parameter
These objects contain the mapping parameters for the TPDOs the device is able to transmit. 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 transmitted with the corresponding TPDO. 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 TPDOs defined by objects 1A00
h
– 1A03
h
(TPDO 1. . . 3) are normally used for motor #0. For the other
motors, the following TPDOs are used:
• TPDO 65. . . 68 (objects 1A40
h
– 1A43
h
) for motor #1.
• TPDO 129. . . 132 (objects 1A80
h
– 1A83
h
) for motor #2.
Object Description
Index Name Object Type Data Type
1A00
h
– 1A03
h
Transmit PDO mapping parameter RECORD PDO Mapping
1A00
h
TPDO 1 RECORD PDO Mapping
1A01
h
TPDO 2 RECORD PDO Mapping
1A02
h
TPDO 3 RECORD PDO Mapping
1A03
h
TPDO 4 RECORD PDO Mapping
Table 49: Object Description (1A00
h
)
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