Festo Электромотор MTR-DCI User Manual
Page 291
C. Reference – CANopen and CI objects
C-15
Festo P.BE-MTR-DCI-CO-EN en 1209a
Receive PDO communication parameter
CANopen
1400h,
1401h
01h...05h
Record
uint32, uint8, uint16
rw
Description
Communication parameters of PDOs 1 and 2 which the device can receive:
– PDO 1:
Object 1400h
– PDO 2:
Object 1401h
COB-ID for PDO 1400h,
1401h
01h
uint32
rw
COB ID used by the PDO.
– PDO 1:
Default: 0x200 + Node-ID
– PDO 2:
Default: 0x300 + Node-ID
Transmission type 1400h,
1401h
02h
uint8
rw
Transmission type
Default: 255 (0xFF) – Event-triggered asynchronous transmission
Value range: 0 ... 255 (0x00 ... 0xFF)
Inhibit time 1400h,
1401h
03h
uint16
rw
Inhibit time, not used for RPDO.
Fixed: 0 (0x0000)
Compatibility entry 1400h,
1401h
04h
–
–
reserved
Event timer 1400h,
1401h
05h
uint16
rw
Event counter in [ms]. Default: 0 (0x0000)