5.3.20 Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301)
1400h to 1403h for RxPDO 1 to 4
Index
1400h
1401h
1402h
1403h
Name
receive PDO parameter
Object code
RECORD
Data type
PDO CommPar
Category
mandatory
Defined sub-indices
Subindex
0
Name
highest sub-index supported
Data type
UNSIGNED8
Category
mandatory
Access
R/O
PDO Mapping
not possible
Value Range
2
Default Value
2
Subindex
1
Name
COB-ID used by PDO
Category
mandatory
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
Index 1400h: 200h + Node-ID
Index 1401h: 300h + Node-ID
Index 1402h: 400h + Node-ID
Index 1403h: 500h + Node-ID
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit
Value Meaning
31
0
PDO exists/is valid
1
PDO does not exist/is not valid
30
0
RTR allowed on this PDO, not to be used (Can in Automation organisation)
1
RTR not allowed on this PDO
29
0
11 bit-ID (CAN 2.0A)
1
29 bit-ID (CAN 2.0B), not supported
28 to 11
X
Identifier-bits with 29 bit-ID, not relevant
10 to 0
X
Bits 10-0 of COB-ID
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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