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CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------
12
SDO Communication Entries
Idx
Sidx
Description
Type
Attr Default
1200h
0h
largest sub-index supported for
“server SDO parameter”
UNSIGNED 8
RO
2
1h
COB-ID form client to server
(RxSDO)
UNSIGNED 32
RO 600h+x
2h
COB-ID form server to client
(TxSDO)
UNSIGNED 32
RO 580h+x
Table 3-2
Note: x is Node-ID of the module
RxPDO Communication Entry
Idx
Sidx
Description
Type
Attr
Default
1401h
0h
Number of entries
UNSIGNED 8
RO
4
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
300h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
Table 3-3
Note: x is Node-ID of the module
RxPDO Mapping Communication Entry
Idx
Sidx
Description
Type
Attr
Default
1601h
0h
Number of entries
UNSIGNED 8
RW
4
1h
Write AO channel 0
UNSIGNED 16
RW
6411 0110h
2h
Write AO channel 1
UNSIGNED 16
RW
6411 0210h
3h
Write AO channel 2
UNSIGNED 16
RW
6411 0310h
4h
Write AO channel 3
UNSIGNED 16
RW
6411 0410h
Table 3-4
Analogue Output Function
Idx
Sidx
Description
Type
Attr Default
6411h
0h
Number of Output 8-Bit
UNSIGNED 16
RO
1
1h
AO value of channel 0
UNSIGNED 16
RW
0
2h
AO value of channel 1
UNSIGNED 16
RW
0
3h
AO value of channel 2
UNSIGNED 16
RW
0
4h
AO value of channel 3
UNSIGNED 16
RW
0
6443h
0h
Number of Analogue Outputs
UNSIGNED 8
RO
1
1h
Error Mode AO channel 0
UNSIGNED 8
RW
0
2h
Error Mode AO channel 1
UNSIGNED 8
RW
0