1400h-1403h RPDO COB-IDs
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 |
