VIPA System 200V IM Series, Manual

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Chapter 5 CANopen
Manual VIPA System 200V
5-74 HB97E - IM - Rev. 06/29
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1409 0 Number of
Elements
Unsigned8 ro N 0x02 Communication parameter for
the first receive PDOs, sub-
index 0: number of following
parameters
1 COB-ID Unsigned32 rw N 0xC00007C0
+ NODE_ID COB-ID RxPD10
2 transm. type Unsigned8 rw N 0xFF Transmission type of the PDO
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1600 0 Number of
Elements
Unsigned8 rw N 0x01 Mapping parameter of the first
receive PDO; sub-index 0:
number of mapped objects
1 1st mapped
object
Unsigned32 rw N 0x62000108 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2nd mapped
object
Unsigned32 rw N 0x62000208 (2 byte index,
1 byte sub-index,
1 byte bit-width)
... ... ... ... ... ... ...
8 8th mapped Unsigned32 rw N 0x62000808 (2 byte index,
1 byte sub-index,
1 byte bit-width)
The first receive PDO (RxPDO1) is per default for the digital outputs.
Depending on the number of the inserted outputs, the needed length of the
PDO is calculated and mapped into the according objects.
For the digital outputs are organized in bytes, the length of the PDO can be
directly seen in sub-index 0.
If the mapping is changed, the entry in sub-index 0 has to be adjusted
accordingly.
Communication
parameter RxPDO10
Mapping RxPDO1