Siko MSA501, User Manual

Page: 37 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 37 of 51
Subindex 02h
Description COB-ID Server -> Client (tx)
Access ro
PDO-Mapping no
Data type UNSIGNED 32
Default 000 Node-ID
EEPROM no
5.6.2.18 1800h: 1. Transmit PDO Parameter
TPDO1 is used for asynchronous PDO transmission according to CiA DS-406.
The communication parameters for TPDO1 are set via object 1800h.
Subindex 00h
Description indicates the largest supported sub-index
Access ro
PDO-Mapping no
Data type UNSIGNED 8
Default 5h
EEPROM no
Subindex 01h
Description COB ID of the PDO1
Access rw (writable in the “Pre-Operational” state only see chapter 5.1 )
PDO-Mapping no
Data type UNSIGNED 32
Default 180h + Node-ID
EEPROM yes
Subindex 02h
Description Transmission Type
Access rw
PDO-Mapping no
Data type UNSIGNED 8
Default FEh (254d)
EEPROM yes
Data content FEh (254d)
FFh (255d) PDO has asynchronous characteristics (PDO is sent depending
on the “Event Timer”).
FDh (253d) Device responds only to RTR request if RTR Bit 30 is enabled
in the COB-ID.