CANopen Protocol
PDO Communication
Page
61
MicroControl Version 2.00
μCAN.8.dio-BOX
8
8.6.2 Receive-PDO
Index 1400h
The object at index 1400h defines communication parameters
for the Receive-PDO.
Sub-Index
Data Type
Acc.
Name
Default Value
0
Unsigned8
ro
Largest Sub-Index
2
1
Unsigned32
rw
COB-ID for PDO
200h + Node
2
Unsigned8
rw
Transmission Type
FFh
Only sub-indices 0 to 2 are supported. An access to other sub-
indices will lead to an error message.
COB-ID for PDO
Sub-Index 1 defined the identifier for the Receive PDO. The 32-
bit value has the following structure.
Tabelle 14: Definition of COB-ID for PDO
Bit 31
Bit 30
Bit 29
Bit 28 - 0
PDO valid,
0 = valid
1 = not valid
RTR allowed,
0 = yes
1 = no RTR
Frame type,
0 = 11 Bit
1 = 29 Bit
Identifier,
In order to enable the PDO the most significant bit (Bit 31) must
be set to 0. In order to disable the PDO the most significant bit
must be set to 1. In the default setting the PDO is active (Bit 31 =
0).
Transmission Type
The transmission type defines the transmission character of the
PDO.
Tabelle 15: Einstellung des Transmission Type
Transmission Type
Description
00h
acyclic synchronous,
01h - F0h
(1 - 240 dez)
cyclic synchronous,
The Receive-PDO processes a message with 1 byte process data.
The contents is copied into object 6200h (refer to “Digital Out-
puts” on page 55) and modifies the digital outputs.
