Appendix 1 list of Parameters
State 16.11.15
Misprints and technical changes reserved
Page 21
15: Communication
ID
Name
Value-Range
Default-Value
Unit
Access
623 Tx PDO 4
-1 ... 3000
0
RW
624 Tx PDO 5
-1 ... 3000
0
RW
625 Tx PDO 6
-1 ... 3000
0
RW
626 Tx PDO 7
-1 ... 3000
0
RW
627 Tx PDO 8
-1 ... 3000
0
RW
630 Rx PDO 1
-1 ... 3000
0
RW
631 Rx PDO 2
-1 ... 3000
0
RW
632 Rx PDO 3
-1 ... 3000
0
RW
633 Rx PDO 4
-1 ... 3000
0
RW
634 Rx PDO 5
-1 ... 3000
0
RW
635 Rx PDO 6
-1 ... 3000
0
RW
636 Rx PDO 7
-1 ... 3000
0
RW
637 Rx PDO 8
-1 ... 3000
0
RW
15: Communication
ID
Name
Value-Range
Default-Value
Unit
Access
640 CO-Baudrate
[00] BAUD_1000 ... [08] BAUD_10 [02] BAUD_500
RW
Selecting the baudrate when using
CANopen
.
Nr. Name
Bemerkung
0
1000 KBaud
1
800 KBaud
2
500 KBaud
3
250 KBaud
4
125 KBaud
5
100 KBaud
6
50 KBaud
7
20 KBaud
8
10 KBaud
15: Communication
ID
Name
Value-Range
Default-Value
Unit
Access
641 CO-Control
0000h ... F3FFh
0000h
[bits]
RW
Various functions in the CanOpen module can be activated within the control word.
Bit Designation
Function/Meaning
0 Reset
Set baudrat, reload PDO mapping, delete Bus-Off Flag
1 SetBaudrate
Baudrate in [640] is adopted
2 StopCan
3 StartCan
4 SetHeartbeat
Heartbeat-Time in [643] is adopted
5 Reload PDO Mapping
Mapping entries in [620 … 627, 630 … 637] are adopted
6 SetNodeState
Manually set NodeState (only for test purposes!)
7 CustomCobWrite
Write value from [649] into object directory (see below)
8 Reset PDO-Parameters
9 Reload PDO-Parameters
10
11
12 TxPDO 1
Send PDO 1
13 TxPDO 2
Send PDO 2
14 TxPDO 3
Send PDO 3
15 TxPDO 4
Send PDO 4
