Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador descarregar pdf (Página 70)

An SDO is valid only if both SDO valid bits are 0. These objects contain the parameters

for which the SDO is the server. This entry is read only.

COB-IDs cannot be changed.

 Object description:

Index 1200h

Name Servo SDO 1 Parameter

Object code RECORD

Data type SDO Parameter (object 0x22)

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Optional

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description COB-ID client → server (Rx)

Entry category Optional

Access Read only

PDO mapping No

Value range 0x601…0x67F

Default value 0x601

Sub-index 2

Description COB-ID client → server (Tx)

Entry category Optional

Access Read only

PDO mapping No

Value range 0x581…0x5FF

Default value 0x581

2 Ensure that the COB-IDs of the default SDO cannot be manipulated by writing to the OD.

CANopen DS 301 Implementation Guide Device-specific Objects

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manual do Utilizador Página 70