Bit number
Value
Meaning
28-11
0
Always 0
10-0 (LSB)
X
Bits 10-0 of COB-ID
PDO valid / not valid allows to select, which PDOs are used in the operational state.
ID
Parameter
CL
Setting range
[Default]
Description
9300
9310
9320
12805
12806
COB-ID
2
1 to FFFFFFFF hex
[80000000 hex]
This parameter contains the
communication parameters for
the PDOs, the device is able to
receive.
Complies with CANopen
specification: object 1400 hex (for
RPDO 1, 1401 hex for RPDO 2,
1402 hex for RPDO 3, 1403 hex
for RPDO 4, and 1404 hex for
RPDO 5), subindex 1.
Notes
The structure of this object is
shown in
Do not configure an RPDO or
TPDO with a COB-ID higher than
580 hex or lower than 180 hex.
These IDs are reserved for internal
purposes.
9121
9122
9123
9124
9125
Event timer
2
0 to 65500 ms
[2000 ms]
This parameter configures the
time, from which this PDO is
marked as "not existing". The time
configured here will be rounded
up to the next 5 ms step.
Received messages are processed
by the control unit every 20 ms.
Messages, which are sent faster,
will be discarded. We recommend
to configure ten times the cycle
time of the received data here.
Notes
Complies with CANopen
specification: object 1400 hex (for
RPDO 1, 1401 hex for RPDO 2,
1402 hex for RPDO 3, 1403 hex
for RPDO 4, and 1404 for RPDO 5),
subindex 5
8970
8971
8972
8973
8974
Selected Data
Protocol
2
0 to 65535
[0]
A data protocol may be selected
by entering the data protocol ID
here. If 0 is configured here, the
message assembled by the
mapping parameters is used. If an
unknown data protocol ID is
configured here, a failure is
indicated by the CAN status bits.
Possible data protocol IDs are:
611
easYgen-3000XT Series
B37574
4 Configuration
4.7.4.1.2 Receive PDO {x} (Process Data Object)
Released