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EDS84DMOTCAN EN 3.0 - 11/2011 L 93

Communication manual 8400 motec CANopen

Implemented CANopen objects

I-1005 - COB-ID SYNC message

This object can be used to activate the generation of sync telegrams and to write the

identifier value.

This object relates to codes C00367

and C00368.

Creating sync telegrams

Sync telegrams are generated by setting bit 30 (see below) to a value of "1". The time

interval between the sync telegrams can be set using object I-1006

Writing identifiers

For the reception of PDOs, the value 0x80 is entered in the Lenze setting (and according to

CANopen specification) into the 11 bit identifier. This means that all

modules are set to the

same sync telegram by default.

 If sync telegrams are only to be received by certain

communication modules, their

identifiers can be entered with values up to and including 0x07FF.

 The identifier may only be changed when the communication module does not send

any sync telegrams (bit 30 = "0").

 How to change the identifier:

– Deactivate identifier (set bit 30 to "0").

– Change identifier.

– Activate identifier (set bit 30 to "1").

[13-2] Data telegram assignment

Index:

I-1005

Name:

COB-ID SYNC message

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0: COB-ID SYNC message 0x0000 0080

0x8000 0080

0 4294967295 rw U32

8th byte 7th byte 6th byte 5th byte

Data 4 Data 3 Data 2 Data 1

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0

x 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".

1 2 ... 88 89 90 91 92 93 94 95 96 97 98 ... 110 111

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