IFM CR2016, Device Manual

Page: 22 / 32

CabinetModule CR2016
22
Index S-Idx Name Typ Default Beschreibung
1 COB ID Receive
PDO 2
rw u32 0x00
NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 2
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch (immediately)
1402 0 highest numbered
subindex Receive
PDO 3
ro u8 0x02
1 COB ID Receive
PDO 3
rw u32 0x00
NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 3
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch (immediately)
1403 0 highest numbered
subindex Receive
PDO 4
ro u8 0x02
1 COB ID Receive
PDO 4
rw u32 0x00
NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 4
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch (immediately)
1600 0 number of application
objects linked with
Rec PDO 1
rw u8 0x02
1 1st mapping object
Rec PDO 1
rw u32 0x08010062 index 6200, subindex 1, 8 bits
2 2nd mapping object
Rec PDO 1
rw u32 0x08020062 index 6200, subindex 2, 8 bits
3 3rd mapping object
Rec PDO 1
rw u32 0x00000000 no object
4 4th mapping object
Rec PDO 1
rw u32 0x00000000 no object
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 0x04
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 0x10031464 index 6414 subindex 3, 16 bits