IFM CR2012, Device Manual, Page: 22 / 28

CabinetModule CR2012
22
Index S-Idx Name Type Default Description
5 5th mapping object
Rec PDO 1
rw u32 0x00000000 no object
6 6th mapping object
Rec PDO 1
rw u32 0x00000000 no object
7 7th mapping object
Rec PDO 1
rw u32 0x00000000 no object
8 8th mapping object
Rec PDO 1
rw u32 0x00000000 no object
1601 0 number of application
objects linked with Rec
PDO 2
rw u8 0x02
1 1st mapping object
Rec PDO 2
rw u32 0x10011464 index 6414 subindex 1, 16 bits
2 2nd mapping object
Rec PDO 2
rw u32 0x10021464 index 6414 subindex 2, 16 bits
3 3rd mapping object
Rec PDO 2
rw u32 0x00000000 no object
4 4th mapping object
Rec PDO 2
rw u32 0x00000000 no object
5 5th mapping object
Rec PDO 2
rw u32 0x00000000 no object
6 6th mapping object
Rec PDO 2
rw u32 0x00000000 no object
7 7th mapping object
Rec PDO 2
rw u32 0x00000000 no object
8 8th mapping object
Rec PDO 2
rw u32 0x00000000 no object
1800 0 highest numbered
subindex Transmit
PDO 1
ro u8 0x05
1 COB ID Transmit
PDO 1
rw u32 0x00000180
+ NodeID
PDO is valid (bit 31 = 0)
2 transmission type
Trans PDO 1
rw u8 0xFF 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch
(immediately)
3 inhibit timer Trans
PDO 1
rw u16 0x0000 min� interval for transmission (in
100 µs)
5 event timer Trans
PDO 1
rw u16 0x0000 max transfer break in trans type
"asynch" (0���65535 ms)
when this time has elapsed the
PDO is transferred even if the
appl� event has not occurred
1801 0 highest numbered
subindex Transmit
PDO 2
ro u8 0x05