NORD Drivesystems BU0260 User 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