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–
FOR REFERENCE ONLY
37.
Object 1401h: Receive PDO communication Parm 1
Describes the Receive Parameters and sets the transmission type for the LED blink PDO
Message.
Identifier
615h (600h + current CAN
ID)
Byte 0
40h
Read Device Register
2Fh
Set Device Register
Byte 1
01h
CAN Object 1401h
Byte 2
14h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
Byte 4
XXh
Transmission Type (to be used only in set
mode):
00h-F0h: synchronous
FEh: event-driven
Byte 5,7
00h
Not used
Examples:
Direction
Identifier Format Message
Data
To Keypad
615
Std
40 01 14 00 00 00 00 00
Keypad reply
595
Std
4F 01 14 00 02 00 00 00 2
To Keypad
615
Std
40 01 14 01 00 00 00 00
Keypad reply
595
Std
43 01 14 01 15 03 00 00 0000 0315h
To Keypad
615
Std
40 01 14 02 00 00 00 00
Keypad reply
595
Std
4F 01 14 02 FE 00 00 00
FEh
To Keypad
615
Std
2F 01 14 02 00 00 00 00 Set Synchronous
RPDO 1
Keypad reply
595
Std
60 01 14 02 00 00 00 00 ACK
To Keypad
80
Std
-
SYNC message
received
To Keypad
315
Std
00 01 00 00 00 00 00 00 Request LED 1 green
blinking: the data are
buffered
To Keypad
80
Std
-
SYNC message
received and
message 315
processed
Receive PDO communication Parm 1:
•
Number of mapped objects: 2;
•
COB id: 0000 0300h + NODE ID;
•
Transmission Type: synchronous or event driven.