CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------
15
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
1400h 0h Number
of
entries
UNSIGNED 8
RO
2
1h COB-ID used by RxPDO
UNSIGNED 32
RW
200h+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
1600h 0h Number
of
entries
UNSIGNED 8
RW
8
1h Write Output channel 0
UNSIGNED 32
RW
6200 0108h
Table 3-4
TxPDO Communication Entry
Idx Sidx
Description
Type
Attr
Default
1800h 0h Number
of
entries
UNSIGNED 8
RO
5
1h COB-ID used by TxPDO
UNSIGNED 32
RW
180h+x
2h
Transmission
type
UNSIGNED 8
RW
FFh
3h
Inhibit
time
UNSIGNED 16
0
4h
reversed
---
---
---
5h
Event
timer
UNSIGNED 16
0
Table 3-5
Note: x is Node-ID of the module
