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Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
28 Chapter 7 – CANopen® Interface
7.4.3.9 Receive PDO Parameter
7.4.3.10 Mapping RPDO_1
7.4.3.11 Transmit PDO_1 Parameter
Table 27
CANopen®: Receive PDO Parameter
Index Subindex Name Type Attr. Map Default Meaning
0x1400 00 RxPDO_1
Parameter Unsigned 8 RO NO 2 Number of sub indexes
01 COB-ID Unsigned 32 RW NO 0x40
Node ID RPDO valid, ID = 0x200
+ Node ID
02 Transmission
Type Unsigned 8 RO NO 255 Asynchronous, event-
driven
Table 28
CANopen®: Mapping RPDO_1
Index Subindex Name Type Attr. Map Default Meaning
0x1600 00 Number of
mapped objects Unsigned 8 RO NO 1 Number of sub indexes
01 1st mapped
object Unsigned 32 RO NO 0x62000108 Mapped to Index
0x6200,01 with 8 Bit
length
Table 29
CANopen®: Transmit PDO_1 Parameter
Index Sub Index Name Type Attr. Map Default Meaning
0x1800 00 TxPDO_1
Parameter Unsigned 8 RO No 0x05 Number of sub indexes
01 COB ID Unsigned 32 RW No 0x40
Node-ID PDO_1 valid, ID =
0x180 + Node-ID
02 Transmission
Type Unsigned 8 RW No 255 Asynchronous, event-
driven
03 Inhibit Time Unsigned 16 RW No 0 shortest period
between transmis
-
sions, in multiples of
100
µs
04 Compatibility
Entry Unsigned 8 RW No
05 Event Time Unsigned 16 RW No 10 Cycle time in ms