Pepperl+Fuchs PGV -F213-B16-1.5M Series, Manual, Page: 39 / 105

PGV*-F213-B16-1.5M-*
Operation and communication
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5. TxPDO Z Distance
Mapping 1. RxPDO
Index Subindex Description Data type Attribute
PDO map-
ping possible Default value
0x1804 0x00 Number of
Subsequent
Parameters unsigned8 ro no 0x5
0x01 COB ID unsigned32 rw no 0x80000000
0x02 Transmission
Type unsigned8 rw no 0xFE
0x03 Inhibit Time unsigned16 rw no 0x0
0x04 Compatibility
Entry unsigned8 rw no 0x0
0x05 Event Timer unsigned16 rw no 0x0
COB ID: Bit
31 30 29 ... 11 10 ... 0
PDO present:
0 = currently present
1 = not present RTR access:
0 = permitted
1 = not permitted ...
CAN identifier
1
1. Cannot be changed when PDO is currently present
Index Subindex Description Data type Attribute
PDO map-
ping possi-
ble
Default
value
Meaning
1
1. Application objects: 2-byte index, 1-byte subindex, 1-byte number of bits
0x1600 0x00 Number of
Subsequent
Parameters unsigned8 rw no 0x08 Number of
mapped
objects
0x01 Mapping of
Input Data unsigned32 rw no 0x22000108
Input Data
MSB
Data =
0x2200,
byte 0x01
0x02 Reserved unsigned32 rw no 0x22000208 Reserved
0x03 Reserved unsigned32 rw no 0x22000308 Reserved
0x04 Reserved unsigned32 rw no 0x22000408 Reserved
0x05 Reserved unsigned32 rw no 0x22000508 Reserved
0x06 Reserved unsigned32 rw no 0x22000608 Reserved
0x07 Reserved unsigned32 rw no 0x22000708 Reserved
0x08 Reserved unsigned32 rw no 0x22000808 Reserved