Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301)
1400h to 1403h for RxPDO 1 to 4
|
Index |
|
|
Name |
receive PDO parameter |
|
Object code |
RECORD |
|
Data type |
PDO CommPar |
|
Category |
mandatory |
Defined sub-indices
|
Subindex |
0 |
|
Name |
highest sub-index supported |
|
Data type |
UNSIGNED8 |
|
Category |
mandatory |
|
Access |
R/O |
|
PDO Mapping |
not possible |
|
Value Range |
2 |
|
Default Value |
2 |
|
Subindex |
1 |
||||
|
Name |
COB-ID used by PDO |
||||
|
Category |
mandatory |
||||
|
Access |
R/W |
||||
|
PDO Mapping |
not possible |
||||
|
Value Range |
UNSIGNED32 |
||||
|
Default Value |
|
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
|
Bit |
Value |
Meaning |
|
31 |
0 |
PDO exists/is valid |
|
|
1 |
PDO does not exist/is not valid |
|
30 |
0 |
RTR allowed on this PDO, not to be used (Can in Automation organisation) |
|
|
1 |
RTR not allowed on this PDO |
|
29 |
0 |
11 bit-ID (CAN 2.0A) |
|
|
1 |
29 bit-ID (CAN 2.0B), not supported |
|
28 to 11 |
X |
Identifier-bits with 29 bit-ID, not relevant |
|
10 to 0 |
X |
Bits 10-0 of COB-ID |
|
Subindex |
2 |
|
Name |
transmission type |
|
Category |
mandatory |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED8 |
|
Default Value |
FFh |
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
- the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and taken into actions,
- values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO
contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one is interpreted. The value 0 means that only the next SYNC-telegram is interpreted.
