Object directory
Communication Profile Area; index 1000 to 1FFF
Input/output module CR2013
34
Index S-idx Designation
Type
Default
Description
1800
0
Transmit
PDO 1
u8, ro
0x02
Number of the entries transmit PDO1 (binary
inputs)
1
COB ID
u32, rw
0x180
+ Node ID
- PDO is valid (bit 31 = 0)
- CAN ID of the 1st transmit PDO
2
Trans Type
u8, rw
0xFF
0x00 = synch acyclic
0x01...0xF0 = synch cyclic, number of the synch
objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is transmitted in the case of
an input change
1801
0
Transmit
PDO 2
u8, ro
0x02
Number of the entries
1
COB ID
u32, rw
0x280
+ Node ID
- PDO is valid (bit 31 = 0)
- CAN ID of the 2nd transmit PDO
1A00
0
Mapping
Transmit PDO 1
u32, ro
0x01
Number of the linked application objects
1
Index in
the object
directory
u32, ro
0x6000 01
6000 Sldx 01 contains 1 byte (binary inputs)
0b0000 000
1
IN 1
0b0000 00
1
0 IN 2
0b0000 0
1
00 IN 3
0b0000
1
000 IN 4
1A01
0
Mapping
Transmit PDO 2
u32, ro
0x04
Number of the linked application objects
1
Index in
the object
directory
u32, ro
0x6401 01
6401 Sldx 01 contains the value of the analog
input channel 2, not processed. Type u16, left-ali-
gned (bit 15 = MSB, bit 6 = LSB). With trans type
0 asynchronous the PDO is transmitted only in the
case of a change of > 4 digits.
2
Index in
the object
directory
u32, ro
0x6401 02
6401 Sldx 02 contains the value of the analog
input channel 4, not processed. Type u16, left-
aligned (bit 15 = MSB, bit 6 = LSB). With trans
type 0xFE/FF asynchronous the PDO is transmitted
only in the case of a change of > 4 digits.
3
Index in
the object
directory
u32, ro
0x6401 03
6401 Sldx 03 contains the value of the analog
input channel 6, not processed. Type u16, left-ali-
gned (bit 15 = MSB, bit 6 = LSB). With trans type
0 asynchronous the PDO is transmitted only in the
case of a change of > 4 digits.
4
Index in
the object
directory
u32, ro
0x6401 04
6401 Sldx 04 contains the value of the analog
input channel 8, not processed. Type u16 left-alig-
ned (bit 15 = MSB, bit 6 = LSB). With trans type 0
asynchronous the PDO is transmitted only in the
case of a change of > 4 digits.
2
Trans Type
u8, rw
0x01
0x00 = synch acyclic
0x01...0xF0 = synch cyclic, number of the synch
objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is transmitted if the analog
value changes by > 4 digits
