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Object directory
Communication Profile Area; index 1000 to 1FFF
Index
ENGLISH
OUTPUT MODULE
CR2011
PAGE
37
S-idx Designation
Type
Default
Description
1800
0
Transmit
PDO 1
u8, ro
0x02
Number of the entries transmit PDO1, (actual
current values)
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
0x01
0x00 = synch acyclic
0x01...0xF0 = synch cyclic, number of the synch
objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is not transmitted
1A00
0
Mapping
Transmit PDO 1
u32, ro
0x04
Number of the linked application objects
1
Index in
the object
directory
u32, ro
0x2002 01
0x2002 02
0x2002 03
0x2002 04
Idx 2002 01 contains the actual current value
channel 1/2
Idx 2002 02 contains the actual current value
channel 3/4
Idx 2002 03 contains the actual current value
channel 5/6
Idx 2002 04 contains the actual current value
channel 7/8