Firmware
≤
11.00 - DMS 8.0 EN - 10/2011
L
489
8400 StateLine C | Reference manual
System bus "CAN on board"
Implemented CANopen objects
Description of subindex 2
[10-13] I-1400 ... I-1402, subindex 2
I-1401
Communication parameter for receiving process data via RPDO2
For data telegram assignment and description of subindices 1 and 2, see object
I-1400
.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
PDO transmission
Transmission type
Explanation
cyclic
synchronous
event-controlled
X
X
n = 1 ... 240
When a value n is entered, this PDO
will be accepted with every nth SYNC.
X
n = 254
PDO will be accepted immediately.
Index:
I-1401
Name:
RPDO2 communication parameter
Subindex
Default setting
Setting range (min. value | unit | max. value)
Access
Data type
0: Highest subindex supported
5
- (read access only)
ro
U8
1: COB-ID used by RPDO
0x300 + node ID
0
4294967295 rw
U32
2: Transmission type
254
0
255 rw
U8
3: Inhibit time
-
- (not used for RPDOs)
rw
U16
4: Compatibility entry
-
- (reserved, read or write access leads to error message
0x06090011)
rw
U8
5: Event timer
-
- (not used for RPDOs)
rw
U16
Subindex
Meaning
Code
0
"5" is permanently set.
• Max. 5 subindices are supported.
-
1
RPDO2 identifier
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x300 + node ID
C00354/3
2
RPDO transmission type according to DS301 V4.02
Transmission type
(
451)
C00323/2
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