2
0
1
6
-0
9
48
Operation and communication
Behavior in the Event of an Error
Communication Parameter 1 RxPDO
Communication Parameter 1 TxPDO
Index
Subindex
Description
Data type
Attribute
PDO mapping
possible
Default value
0x1029
0
Number of
Subsequent
Parameters
unsigned8
ro
no
1
1
Consumer
Heartbeat
Time
1
1.For procedure in case of communication errors, see the table below
unsigned8
rw
no
0
Data bit
Procedure in case of communication errors
0x00
Reader changes from
Operational
to
Preoperational
0x01
Reader retains current status
0x02
Reader changes to
Stopped
Index
Subindex
Description
Data type
Attribute
PDO mapping
possible
Default value
0x1400
0
Number of
Subsequent
Parameters
unsigned8
ro
no
2
1
COB ID
unsigned32
rw
no
0x00
Node ID
2
Transmission
Type
unsigned8
rw
no
254
COB ID: Bit
31
30
29 ... 11
10 ... 0
PDO present:
0 = currently present
1 = not present
RTR access:
0 = permitted
1 = not permitted
...
CAN identifier
1
1.Cannot be changed when PDO is currently present
Index
Subindex
Description
Data type
Attribute
PDO mapping
possible
Default value
0x1800
0
Number of
Subsequent
Parameters
unsigned8
ro
no
5
1
COB ID
unsigned32
rw
no
0x00
Node ID
2
Transmission
Type
unsigned8
rw
no
254
3
Repeat delay
[value x
100
µ
s]
unsigned16
rw
no
0
4
Not used
5
Event Timer
unsigned16
rw
no
0