SV-iS7 CANopen Manual
32
The table below presents the RPDO3 Map.
Sub
index
Setting value
Parameter
Index
Parameter
Sub Index
The name of parameter
0x01
0x30100010
0x3010
-
Para Control - 1 Data Value
0x02
0x30110010
0x3011
-
Para Control - 2 Data Value
0x03
0x30120010
0x3012
-
Para Control - 3 Data Value
0x04
0x30130010
0x3013
-
Para Control - 4 Data Value
Para Control –x Data Value is the value to be written in the parameter of the communication address set up in
COM-51~54.
6.2.3 TPDO
The TPDO of the CiA 402 Profile are as follows.
Number of RPDO Support
Description
1
Mandatory
Controls PDS FSA and Target velocity(vl)
2
Optional
Controls PDS FSA and Target velocity(vl), and target torque(tq)
3 Optional
Manufacture
specification
IS7 CANopen supports only TPDO1 and TPDO3.
The settings are for the receiving methods of the TPDOs.
The index of the communication parameter object of the TPDO1 is 0x1400.
The index of the communication parameter object of the TPDO3 is 0x1402.
The Sub Index parameters in the object are the same.
Sub
Index
Property
Description
0x01
Function
COB-ID (Unique CAN ID value of PDO)
Access RW
Initial value
Node ID (TPDO1), Node ID (TPDO3)
0x02
Function Transmission
Type
Access RW
Initial value
255
0x03
Function Inhibit
Time
Access RW
Initial value
0
0x05
Function Event
Timer
Access RW
Initial value
0