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 (CANClosed"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.