NORD Drivesystems BU0260 - Manual (Page 52)

Supplementary Manual CANopen for NORDAC SK 20E
52 Subject to technical amendments BU 0260 GB
4.9.2.2 PDO objects (1400
hex
- 1A04
hex
)
Index* Sub Object Description Unit Access Type
0x1400-
0x1404
REC
Receive PDO communication
parameter
Receive PDO characteristics RW
0 Largest sub-index Number of elements RO U8
1 COB-ID used by PDO
Receive PDO identifier
(see parameter (P161 [-11,-13,-15,-17,-19]))
RW U32
2 Transmission type
Receive PDO type (see Section 4.5.2.2 " PDO
operating modes (transmission type) ")
(see parameter (P162 [-02,-04,-06,-08,-10]))
RW U8
3 Not used Not used - -
4 Reserved Reserved - -
5 Not used Not used - -
0x1600-
0x1604
REC
Receive PDO mapping
parameter
Receive PDO mapping (see Section 4.5.2.5
"
PDO mapping ")
RW
0 Largest sub-index Number of elements RO U8
0x1600-
0x1603
1-4 PDO mapping
Mapped objects (FI 1 … FI 4)
(see parameter (P165 [-05 … -08],
(P165 [-13 … -16],
(P165 [-21 … -24],
(P165 [-29 … -32])
RW U32
0x1604 1 PDO mapping
Bus module
(see parameter (P165 [-34]) RW U32
0x1800-
0x1804
REC
Transmit PDO communication
parameter
Transmit PDO characteristics RW
0 Largest sub-index Number of elements RO U8
1 COB-ID used by PDO
Receive PDO identifier
(see parameter (P161 [-10,-12,-14,-16,-18]))
RW U32
2 Transmission type
Transmit PDO type (see Section 4.5.2.2
"
PDO operating modes (transmission
type) ")
(see parameter (P162 [-01,-03,-05,-07,-09]))
RW U8
3 Inhibit time
Minimum transmission time
(see parameter (P163 [-01 … -05]))
100µs RW U16
4 Reserved Reserved - -
5 Event timer
Cyclical transmission timer
(see parameter (P163 [-01 … -05]))
ms RW U16
0x1A00-
0x1A04
REC
Transmit PDO mapping
parameter
Receive PDO mapping (see Section 4.5.2.5
"
PDO mapping ")
RO
0 Largest sub-index Number of elements RW U8
0x1A00-
0x1A03
1-4 PDO mapping
Mapped objects (FI 1 ... FI 4)
(see parameter (P165 [-01 … -04],
(P165 [-12 … -15],
(P165 [-20 … -23],
(P165 [-28 … -31])
RW U32
0x1A04 1 PDO mapping
Bus module
(see parameter (P165 [-33]) RW U32
* xx00 hex = FI1, xx01 hex = FI2, xx02 hex = FI3, xx03 hex = FI4, xx04 hex = Bus module