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T_PDO COMMUNICATION PARAMETERS
Index
Sub-Index
Name
Description
Type
Attribute
1800h
0
AI_T_PDO_CPAR
Sub-index number(5)
U8
R
1
COB_ID used from PDO
(180h + Node_ID )
U32
R
2
Transmission type PDO (*)
U8
R
3
Inhibition time (0)
U16
R/W
4
Reserved
U8
R/W
5
Event timer (expressed in ms, default
8 ms)
U16
R/W
(*) PDO Transmission type:
00h = synchronous acyclic (PDO is transmitted following the receipt of SYNC, but only if a new mea-
surement has been acquired).
01h = synchronous cyclic (PDO is always transmitted after receiving SYNC).
FFh = asynchronous (default) (PDO is periodically transmitted according to the set time, setting “event
timer” to zero, transmission is disabled).
Other types of transmission provided by the CIA DS-301 are not supported.
T_PDO MAPPING PARAMETERS
Index
Sub-Index
Name
Description
Type
Attribute
1A00h
0
T_PDO_MPAR1
Number of “application objects”
mapped in the PDO (2)
U8
R
1
Applic.Obj.map 1 (*)
U32
R
2
Applic.Obj.map 2 (*)
U32
R
Below is the sub-index structure from 1h to 6h.
Byte: MSB
LSB
Index (16 bit)
sub-index (8 bit) object lenghtr (8 bit)
(*) The following default values are defined:
• Sub-index 0 = 6h.
• Sub-index 1 = 2001 0120h ( Index = 2001h, sub-index 01, 32 bit lenght).
• Sub-index 2 = 2002 0120h ( Index = 2002h, sub-index 01, 32 bit lenght).
Summary of Contents for DAT11
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