Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301)

1400h to 1403h for RxPDO 1 to 4

Index	1400h 1401h 1402h 1403h
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	Index 1400h: 200h + Node-ID Index 1401h: 300h + Node-ID Index 1402h: 400h + Node-ID Index 1403h: 500h + Node-ID

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"Controller area network" CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously 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.