Version 3.0.0 Preliminary Documentation – May be Subject to Change 13-46
3.1.1. PDO Parameters
All RPDOs and TPDOs in the 18 Digital Inputs use the same default communication
parameters, respectively. The PDO IDs are set according to the pre-defined connection set
described in [DS-301]. All receive PDOs are set to transmission type 255, and all transmit
PDOs to transmission type 254, with the event timer (subindex 5) set to 100 (100ms).
All PDOs are dynamically mappable, and the user can therefore change the mapping of the
PDOs. The granularity is 8-bits, so the objects can be mapped with byte offsets. The
mapping parameter records include 4 subindexes for the PDO mapping. The default PDO
mappings are listed in the following tables.
RPDO1: default ID 0x200 + node ID
Subindex Value
Object
0
0
Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO2: default ID 0x300 + node ID
Subindex Value
Object
0
0
Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO3: default ID 0x400 + node ID
Subindex Value
Object
0
0
Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
RPDO4: default ID 0x500 + node ID
Subindex Value
Object
0
0
Number of mapped application objects in PDO
1 0
2 0
3 0
4 0
