VIPA System 200V IM Series, Manual

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Manual VIPA System 200V
Chapter 5 CANopen
HB97E - IM - Rev. 06/29 5-79
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1808 0 Number of
Elements
Unsigned8 ro N 0x05 Communication parameter for the
9th transmit PDO.
1 COB-ID Unsigned32 rw N 0x800004C0
+ NODE_ID COB-ID TxPDO9
2 Transmission
type Unsigned8 rw N 0xFF Transmission type of the PDO
3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay
[value x 100 µs]
5 Event time Unsigned16 rw N 0x0000 Event timer [value x 1 ms]
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1809 0 Number of
Elements
Unsigned8 ro N 0x05 Communication parameter for the
10th transmit PDO.
1 COB-ID Unsigned32 rw N 0x800006C0
+ NODE_ID COB-ID TxPDO10
2 Transmission
type Unsigned8 rw N 0xFF Transmission type of the PDO
3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay
[value x 100 µs]
5 Event time Unsigned16 rw N 0x0000 Event timer [value x 1 ms]
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1A00 0 Number of
Elements
Unsigned8 rw N depending on the
components fitted Mapping parameter of the
first transmit PDO; sub-
index 0: number of mapped
objects
1 1st mapped
object
Unsigned32 rw N 0x60000108 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2nd mapped
object
Unsigned32 rw N 0x60000208 (2 byte index,
1 byte sub-index,
1 byte bit-width)
... ... ... ... ... ... ...
8 8th mapped
object
Unsigned32 rw N 0x60000808 (2 byte index,
1 byte sub-index,
1 byte bit-width)
continue ...
Communication
parameter TxPDO9
Communication
parameter
TxPDO10
Mapping TxPDO1