0x1400 - RPDO1
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.