Applied Motion ST10-C-CE - Manual (Page 30)

30 920-0025 Rev K
3/5/2015
CANopen User Manual
Object Type Sub Number
Record 3
Subindex Name Data Type Access Type PDO Mapping COS Default value
00 max sub-index UNSIGNED8 ro no no 2
01 COB-ID client
to server
UNSIGNED32 ro no no 0x600+$NODEID
02 COB-ID server
to client
UNSIGNED32 ro no no 0x580+$NODEID
0x1400~0x1403 RPDO communication
Contains the communication parameters for the PDOs the device is able to receive. The
type of the PDO communication parameter (20h) is described in CiA 301 section 9.5.4. The
sub-index 0h contains the number of valid entries within the communication record. Its value
is at least 2. If inhibit time is supported, the value is 3. At sub-index 1h resides the COB-ID of
the PDO. This entry has been defined as UNSIGNED32 in order to allow 11-bit CAN Identifiers
(CAN 2.0A) as well as for 29-bit CAN identifiers (CAN 2.0B).
UNSIGNED32
MSB
LSB
bits 31 30 29 28-11 10-0
11-bit-ID 0/1 0/1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11-bit Identifier
29-bit-ID 0/1 0/1 1 29 -bit Identifier
Figure 9: Structure of PDO COB-ID entry
bit number value meaning
31 (MSB) 0 PDO exists / is valid
1 PDO does not exist / is not valid
30 0 RTR allowed on this PDO
1 no RTR allowed on this PDO
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28-11 0 if bit 29=0
X if bit 29=1: bits 28-11 of 29-bit-
COB-ID
10-0 (LSB) X bits 10-0 of COB-ID
Table 10: Description of PDO COB-ID entry