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CANopen CAN 1 Receive PDO
21.01 CAN1 RPDO1.1
Group 21
21.02 CAN1 RPDO1.2
21.03 CAN1 RPDO1.3
AnalogManager
Analog Variables
21.04 CAN1 RPDO1.4
LogicsManager
Command
Variables
Receive PDO1
9300 COB-ID
9121 Event timer
8970 Selected Data Protocol
9910 Number of mapped Objects
dec
ms
RPDO1
RPDO
1.1
RPDO
1.2
RPDO
1.3
RPDO
1.4
21.17 CAN1 RPDO5.1
21.18 CAN1 RPDO5.2
21.19 CAN1 RPDO5.3
21.20 CAN1 RPDO5.4
21.05 CAN1 RPDO2.1
21.06 CAN1 RPDO2.2
21.07 CAN1 RPDO2.3
21.08 CAN1 RPDO2.4
1026
2000
0
4
9911 1. Mapped Object
3371
9912 2. Mapped Object
3372
9913 3. Mapped Object
3373
9914 4. Mapped Object
3374
3371
3372
3373
3374
3387
3388
3389
3390
3375
3376
3377
3378
Index
Receive PDO5
12806 COB-ID
9125 Event timer
8974 Selected Data Protocol
12831 Number of mapped Objects
dec
ms
1030
2000
0
4
12834 1. Mapped Object
3387
12835 2. Mapped Object
3388
12836 3. Mapped Object
3389
12837 4. Mapped Object
3390
RPDO5
RPDO
5.1
RPDO
5.2
RPDO
5.3
RPDO
5.4
32.01 CAN1 RPDO1.1.1
Group 32
32.16 CAN1 RPDO1.1.16
33.01 CAN1 RPDO2.1.1
Group 33
33.16 CAN1 RPDO2.1.16
36.01 CAN1 RPDO5.1.1
Group 36
36.16 CAN1 RPDO5.1.16
32.02 CAN1 RPDO1.1.2
32.03 CAN1 RPDO1.1.3
32.04 CAN1 RPDO1.1.4
32.05 CAN1 RPDO1.1.5
32.06 CAN1 RPDO1.1.6
32.07 CAN1 RPDO1.1.7
32.08 CAN1 RPDO1.1.8
32.09 CAN1 RPDO1.1.9
32.10 CAN1 RPDO1.1.10
32.11 CAN1 RPDO1.1.11
32.12 CAN1 RPDO1.1.12
32.13 CAN1 RPDO1.1.13
32.14 CAN1 RPDO1.1.14
32.15 CAN1 RPDO1.1.15
Fig. 353:
Example of a CAN 1 RPDO configuration for interconnectivity.
9.2.9.3.4
Free Analog Values
Additionally the device provides “Free analog values” for receiving data for free
purposes. These indices can be mapped to RPDOs or can be written via Modbus. The
values are available in the AnalogManager group 24.
In future releases (higher than 2.10-0) the variables 24.05-24.08 will be write-protected
with code level CL1.
Index
Name
Format
Usable as
587
Free analog value 1
INT16 signed
AnalogManager 24.01
588
Free analog value 2
INT16 signed
AnalogManager 24.02
589
Free analog value 3
INT16 signed
AnalogManager 24.03
1078
easYgen-3000XT Series
B37574
9 Appendix
9.2.9.3.4 Free Analog Values
Released