|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x1400 |
0x01 |
COB-ID used |
UINT32 |
RW |
No |
Yes |
UINT32 |
0x80000200 + Node ID |
- |
|
0x1400 |
0x02 |
Transmission type |
UINT8 |
RW |
No |
Yes |
UINT8 |
0xFF |
- |
|
0x1400 |
0x03 |
Inhibit time |
UINT16 |
RW |
No |
Yes |
UINT16 |
0x0000 |
100μs |
This object contains the communication parameters for the PDO 1 the CANopen device is able to receive.
PDO configuration should be performed as detailed here (see Mapping Procedure section)
SubIndex description:
-
0x01 (COB-ID used): The format of COB-ID is as follows:
|
Bit number: |
31 |
30 |
29 |
28 |
... |
11 |
10 |
... |
0 |
|---|---|---|---|---|---|---|---|---|---|
|
|
valid |
Reserved always 0 |
frame |
0x00000 |
11-bit CAN-ID |
||||
|
29-bit CAN-ID |
|||||||||
|
Bit |
Value |
Description |
|---|---|---|
|
valid |
0 |
PDO exists / is valid |
|
1 |
PDO does not exists / is not valid |
|
|
frame |
0 |
11-bit CAN-ID valid (CAN base frame) |
|
1 |
29-bit CAN-ID valid (CAN extended frame) |
|
|
29-bit CAN-ID |
x |
29-bit CAN-ID of the CAN extended frame |
|
11-bit CAN-ID |
x |
11-bit CAN-ID of the CAN base frame |
-
0x02 (Transmission type): Indicates the transmission types of the RPDO. From 0x00 to 0xF0 indicates synchronous reception: data will be update after the reception of the next SYNC. From 0xFE or 0xFF indicates asynchronous reception: the controller will update the value after PDO reception. The rest of the values are reserved.
-
0x03 (Inhibit time): Currently not used. Reserved for future updates.
This object only works in emcl CANopen version.