ICP DAS USA PM-3133i-MTCP, Руководство пользователя

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PM
-
3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 49
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8.2.2 PDO Introduction
8.2.2.1 PDO COB-ID Parameters
Before the real-time data are transmitted by the PDO, it is necessary to check the
COB-ID parameter of this PDO in the PDO communication objects. This parameter
setting controls the COB-ID of the PDO communication, which is in 32 bits, and each bit
with its meaning is given in the table follow.
Bit Number Value Meaning
31(MSB) 0 PDO exits (PDO is valid)
1 PDO does not exist (PDO is not valid)
30 0 RTR allowed on this PDO
1 No RTR allowed on this PDO
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28-11 0 If bit 29=0
X If bit 29=1: 28-11 bits of 29-bit COB-ID
10-0(LSB) X 10-0 bits of COB-ID
Note: PM-3133-CPS supports CAN 2.0A only.
In the following t
able, it’s regarding the default PDO COB-ID parameters.
Number of PDO
Default COB-ID
Bit10~Bit7
(Function Code)
Bit6~Bit0
TxPDO1 0011 Node-ID
TxPDO2 0101 Node-ID
TxPDO3 0111 Node-ID
TxPDO4 1001 Node-ID
RxPDO1 0100 Node-ID
RxPDO2 0110 Node-ID
RxPDO3 1000 Node-ID
RxPDO4 1010 Node-ID