1400h RxPDO communication parameter 1


  • CAN bus only

These objects control the four Rx PDOs going to the drive on CAN bus. The PDO COB-ID can be changed, the PDO can be enabled/disabled, and the transmission type can be set.

Sub-index 1 COB-ID encoding

Bit Value Descrilption
31 0 PDO exists/is valid
1 PDO does not exist/is not valid
30 0 RTR allowed on this PDO
1 RTR not allowed on this PDO
29 0 11 bit ID (CAN 2.0A)
1 29 bit ID (CAN 2.0B) (not supported by AKD2G)
28-11 X Identifier bits when 29 bit ID is supported (not supported by AKD2G)
10-0 X Bits 10-0 of COB-ID

Sub-index 2 Transmission Type

The transmission type has two types, event based of SYNC based:

  • A value of 0xFF/255 indicates the PDO is event based, meaning the PDO will be processed when received.
  • A value of 0-240 changes the PDO to be SYNC based.
    • 0 means the values will be processed the next SYNC signal

    • 1-240 means that 0-239 SYNC signals are ignored, before one is interpreted

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Highest sub-index supported 1400h 0 Unsigned8 - - Read only No All
COB-ID used by RxPDO 1 1400h 1 Unsigned32 - - Read/Write No All
Transmission type 1400h 2 Unsigned8 - - Read/Write No All