NORD Drivesystems BU0060 - Manual (Page 65)

4 Communication and Protocol
BU 0060 GB-4112 65
PDO objects (1400
hex
- 1A04
hex
)
Index
(hex)
Sub Object Description Unit Access Type
1400-
1403 REC Receive PDO
Communication Parameter Receive PDO characteristics RW 0x21
0 Largest sub-index Number of elements RO U8
1 COB-ID used by PDO Identifier receive PDO RW U32
2 Transmission type Receive PDO type RW U8
3 Not used Not used - -
4 Reserved Reserved - -
5 Not used Not used - -
1600-
1603 REC Receive PDO Mapping
Parameter Receive PDO mapping RW 0x21
0 Largest sub-index Number of elements RW U8
1-4 PDO mapping Mapped objects RW U32
1800-
1803 REC Transmit PDO
Communication Parameter Transmit PDO characteristics RW 0x21
0 Largest sub-index Number of elements RO U8
1 COB-ID used by PDO Identifier receive PDO RW U32
2 Transmission type Send PDO type RW U8
3 Inhibit Time Minimum transmit time 100µ
s RW U16
4 Reserved Reserved - -
5 Event Timer Cyclic transmit timer ms RW U16
1A00-
1A03 REC Transmit PDO Mapping
Parameter Send PDO mapping RW 0x21
0 Largest sub-index Number of elements RW U8
1-4 PDO mapping Mapped objects RW U32
Table 23: PDO objects (DS 301)
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