Showing help for All Types with All Fieldbus and Functional Safety All

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The model number will indicate what kind of device you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Fieldbus

The model number will indicate what kind of fieldbus you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Functional Safety Version

The model number will indicate what kind of function safety you have. Find the label on the side of the device, where "Model No:" is indicated.

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1400h-1403h RPDO COB-IDs


  • 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

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1400h, 1401h, 1402h, 1403h 0h Unsigned8 - - Read only No
COB-ID used by RPDO 4 1400h, 1401h, 1402h, 1403h 1h Unsigned32 - - Read/Write No
Transmission type 1400h, 1401h, 1402h, 1403h 2h Unsigned8 - - Read/Write No

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