Manual VIPA System 300V
Chapter 4 CANopen
HB130E - IM - Rev. 08/26
4-45
Index
Sub-
index
Name
Type
Attr.
Map. Default value Meaning
0x2400 0
Number
of
Elements
Unsigned8
ro
N
0x0A
Time control for RxPDOs
1
RxPDO1
Unsigned16 rw
N
0x0000
Timer value [ms]
2
RxPDO2
Unsigned16 rw
N
0x0000
Timer value [ms]
...
... ...
...
...
...
...
10
RxPDO10
Unsigned16 rw
N
0x0000
Timer value [ms]
The control starts as soon as the timer is unequal 0. Every received
RxPDO resets the timer. When the timer has been expired, the CAN
coupler switches into the state "pre-operational" and sends an emergency
telegram.
This function is exclusively suitable for master, where heartbeat or rather
node guarding is not supported.
Index
Sub-
index
Name
Type
Attr.
Map. Default value
Meaning
0x3001 -
0x3010
0 Number
of
Elements
Unsigned8
ro
N
0x04 or 0x00
Number of entries
0x04 : module available
0x00 : no module available
1
Prm 0 to 3
Unsigned32 rw
N
depending on
the compo-
nents fitted
Parameter bytes 0 to 3
2
Prm 4 to 7
Unsigned32 rw
N
depending on
the compo-
nents fitted
Parameter bytes 4 to 7
3
Prm 8 to 11
Unsigned32 rw
N
depending on
the compo-
nents fitted
Parameter bytes 8 to 11
4
Prm 12 to 15 Unsigned32 rw
N
depending on
the compo-
nents fitted
Parameter bytes 12 to 15
Via the indices 0x3001 to 0x3010 you may parameterize the analog
modules, counter and communication modules.
PDO control
Module
parameterization
