Siko IKM360M, User Manual

Page: 45 / 58

Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 45 of 58
Sub-index 05h
Description COB ID1
Access ro, if NMT state is operational
rw, if NMT state is pre-operational
PDO mapping no
Data type UNSIGNED 32
Default 000 2*Node ID
EEPROM yes
Data content 257d (101h) … 383d (17Fh) (odd numerical values only)
Sub-index 06h
Description COB ID2
Access ro, if NMT state is operational
rw, if NMT state is pre-operational
PDO mapping no
Data type UNSIGNED 32
Default 000 2*Node ID
EEPROM yes
Data content 258d (102h) … 384d (180h) (even numerical values only)
5.8.2.18 1381h: SRDO1 Mapping Parameter
Object 1381h determines the objects that are mapped in the first Transmit SRDO (SRDO1).
Sub-index 00h
Description indicates the largest supported sub-index
Access ro
PDO mapping no
Data type UNSIGNED 8
Default 4h
EEPROM no
Sub-index 01h
Description 1 st object of the SRDO1 message with the COB ID1 (data byte 0)
Access ro
PDO mapping no
Data type UNSIGNED 32
Default 62100108h (Safety Slope long16 object 6210h, sub-index 01h, 8bit)
EEPROM no