ASDA-B3 CANopen Mode
11-43
11
Object 1400h - 1403h: RPDO communication parameter
Index
1400h - 1403h
Name
Receive PDO parameter
Object code
RECORD
Data type
PDO CommPar
Access
RW
Sub-index
0
Description
Maximum number of sub-index supported
Data type
UNSIGNED8
Access
RO
PDO mapping
No
Setting range
5
Default
5
Sub-index
1
Description
COB-ID used by PDO
Data type
UNSIGNED32
Access
RW
PDO mapping
No
Setting range
UNSIGNED32
Default
Node-ID: 0
Object function:
31
30
29
28
27
26
25
24
Bit
15
14
13
12
11
10
9
8
Bit
7
6
5
4
3
2
1
0
23
22
21
20
19
18
17
16
Bit
Function
Description
Bit 10 - Bit 0
COB-ID
The data size is 10-bit.
Bit 30 - Bit 11
-
-
Bit 31
PDO function
switch
0: enable PDO function.
1: disable PDO function.
Enable / disable the PDO function to determine if PDO is
used in the Operational state.
The COB-ID setting format is as follows:
Communication object
Object parameter
COB-ID
DEC (HEX)
R_PDO1
1400h
512 (200h) + Node-ID
R_PDO2
1401h
768 (300h) + Node-ID
R_PDO3
1402h
1024 (400h) + Node-ID
R_PDO4
1403h
1280 (500h) + Node-ID
Содержание ASDA-B3 Series
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