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7
7.6
Using manufacturer specific PDOs with ByPass modes
Manufacturer specific PDOs are in use when ‘Operate Mode’ parameter in panel is set to ByPass or
ByPass 2. For communication set used in ByPass –modes, seeTable 7-2. Manufacturer specific PDOs
are TPDO21, TPDO22, RPDO21 and RPDO22.
PDO21 Rx
Master to Slave (1)
Header
Data
ID
RTR
Len
1
2
3
4
5
6
7
8
0x401
0
8
nx_control_word
nx_speed_referense
process_data_in1
process_data_in2
PDO21 Tx
Slave (1) to Master
Header
Data
ID
RTR
Len
1
2
3
4
5
6
7
8
0x381
0
8
nx_status_word
nx_actual_speed
process_data_out1
process_data_out2
PDO22 Rx
Master to Slave (1)
Header
Data
ID
RTR
Len
1
2
3
4
5
6
7
8
0x501
0
8
process_data_in3
process_data_in4
process_data_in5
process_data_in6
PDO22 Tx
Slave (1) to Master
Header
Data
ID
RTR
Len
1
2
3
4
5
6
7
8
0x481
0
8
process_data_out3
process_data_out4
process_data_out5
process_data_out6
