5.3.32 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO
In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch
off the monitoring for individual bits in the PDO. In this way it can be arranged, for instance,
that actual position values are only signaled once per turn.
This Object masks the PDO-channels 1 to 4. If only two bytes have been defined in a PDO,
then it masks just two bytes, although 4 bytes of mask information have been transmitted.
An activated bit in the mask means that monitoring is active for the corresponding bit in the
PDO.
Index
2014h
2015h
2016h
2017h
Name
tx_mask 1 to 4
Object code
ARRAY
Data type
UNSIGNED32
Subindex
1
Description
tx_mask1 to 4_low
Mode
independent
Access
R/W
PDO mapping
not possible
Unit
—
Value range
UNSIGNED32
Default value
FFFFFFFFh
Subindex
2
Description
tx_mask1 to 4_high
Mode
independent
Access
R/W
PDO mapping
not possible
Unit
—
Value range
UNSIGNED32
Default value
FFFFFFFFh
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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