ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 37)

Receive PDO 2 is mapped to the binary interpreter by default. This is done for
compatibility reasons and to enable communication with the Elmo Composer.
Index Sub-index Name Default Value
1401h 0h Number of entries 2
1h COB-ID used by PDO 4000037Fh
2h Transmission type 254
Index Sub-index Name Default Value
1601h 0 Number of entries 1
1 Binary interpreter command 2012 00 40h
Transmit PDO 2 is mapped to the binary interpreter result object, transmitted each time
the binary interpreter completes its processing. The event behavior is set by object
0x2F20, defined in the CANopen Implementation Manual.
Index Sub-index Name Default Value
1801h 0h Number of entries 3
1h COB-ID used by PDO 400002FFh
2h Transmission type 254
3h Inhibit time 0
Index Sub-index Name Default Value
1A01h 1h Number of entries 1
2h Binary interpreter result 2013 00 40h
Index Sub-index Name Default Value
2F20h 2h TPDO2 events 0x8000000
CANopen DS 301 Implementation Guide Process Data Objects (PDOs)
MAN-CAN301IG (Ver. 2.1)
5-8