Select your Device Type
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.
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
|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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