Implemented canopen objects – Lenze EMF2178IB User Manual
Page 109
Implemented CANopen objects
Overview
I−1400 ... I−1402: Receive PDO communication parameters
l
109
EDSMF2178IB EN 3.0
13.2.19
I−1400 ... I−1402: Receive PDO communication parameters
Receipt of PDO communication parameters
)
Note!
The objects I−1401 and I−1402 are not available for 8200 vector and 93XX
controllers.
Index
Subindex
Name
Data type
Value range
Authorisatio
n
I−1400
0
Number of entries
U8
0 ... 255
ro
1
RPDO1 COB−ID
U32
0 ... (2
32
− 1)
rw
2
RPDO1 transmission type
U8
0 ... 240, 254
rw
5
RPDO1 event timer
U32
1 ... 65535
rw
I−1401
0
Number of entries
U8
0 ... 255
ro
1
RPDO2 COB−ID
U32
0 ... (2
32
− 1)
rw
2
RPDO2 transmission type
U8
0 ... 255
rw
5
RPDO2 event timer
U32
1 ... 65535
rw
I−1402
0
Number of entries
U8
0 ... 255
ro
1
RPDO3 COB−ID
U32
0 ... (2
32
− 1)
rw
2
RPDO3 transmission type
U8
0 ... 255
rw
5
RPDO3 event timer
U32
1 ... 65535
rw
Subindices
Subindex
Description
0
Max. supported subindices = 5
1
Identifier setting:
l
RPDO1: 200
hex
+ node ID
l
RPDO2: 300
hex
+ node ID
l
RPDO3: 400
hex
+ node ID
2
Transmission type setting (see table above)
5
Monitoring time setting (see table above)
Description of subindex 1
Data telegram assignment
Byte 8
7th byte
Byte 6
Byte 5
MSB
U32
LSB
31
30
29
28
...
11
10
...
0
0/1
0/1
0
Bit value: 0
11−bit identifier
Bits
Value
Description
0 ... 10
X
11−bit identifier
11 ... 29
0
The extended identifier is not supported. Any of these bits must be "0".
30
0
RTR to RPDO possible (Lenze)
1
RTR to RPDO not possible (cannot be set)
31
0
RPDO active
1
RPDO not active