Elmomc CANopen DS 301 Implementation Guide Manual de usuario descargar pdf (Pagina 99)

 Entry description:

Access Read only

PDO mapping Yes

Value range 0…32

Default value 0

Object 0x2F20: PDO e

vents

This object is used to select the events that cause asynchronous PDOs to be transmitted,

with transmission type 254. PDOs with other transmission types are ignored. Sub-indices

1 to 4 define events for transmitting TPDO1, TPDO2, TPDO3 and TPDO4, respectively.

The event definition for the PDO transmission is a bit field, as follows:

Bit Event

0 Motion complete: MS = 0

1 Main homing complete: HM[1] = 0

2 Auxiliary homing complete: HY[1] = 0

3 Motor shut down by exception: MO = 0

4 Motor started: MO = 1

5 User program “emit” command

6 OS interpreter execution complete

7 Digital input event according to object 0x2F23

8…30 Reserved

31 Binary interpreter command processing complete

Asynchronous TPDOs obey the inhibit time restrictions, as explained in section 2.4.

 Object description:

Index 2F20h

Name PDO events

Object code ARRAY

Data type UNSIGNED32

Category Optional

CANopen DS 301 Implementation Guide Manufacturer-specific Objects

MAN-CAN301IG (Ver. 2.1)

13-22

1 2 ... 94 95 96 97 98 99 100 101 102 103 104 ... 117 118

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Elmomc CANopen DS 301 Implementation Guide Manual de usuario Pagina 99