Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 36)

5.3.6 Default Values

Default values of PDO mapping parameters are used at:

 Power up

 NMT communication reset (NMT 82h)

 NMT node reset (NMT 81h)

In these cases, the values of the PDO parameters receive the following:

Receive PDO 1 mapped to the DSP-402 controlword in the following manner:

Index Sub-index Name Default Value

1400h 0h Number of entries 2

1h COB-ID used by PDO 4000027Fh

2h Transmission type 255

Index Sub-index Name Default Value

1600h 0 Number of mapped entries 1

1 Controlword 6040 00 10h

Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it

changes (typically after reception of a controlword):

Index Sub-index Name Default Value

1800h 0h Number of entries 3

1h COB-ID used by PDO 4000001FFh

2h Transmission type 255

3h Inhibit time 0

Index Sub-index Name Default Value

1600h 1h Number of entries 1

Statusword 6041 00 10h

Index Sub-index Name Default Value

2F20h 1h TPDO1 asynchronous events 0

Note: The asynchronous transmission of TPDO1 reflects changes performed

3 milliseconds prior to transmission.

CANopen DS 301 Implementation Guide Process Data Objects (PDOs)

MAN-CAN301IG (Ver. 2.1)

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