ABB FEPL-02 Ethernet POWERLINK - Page 115

Appendix A – CANopen Object Dictionary 115
1400 0 Receive PDO
Communica-
tion
U8 R 2 Number of entries
1 Node ID U8 RW 0 Node ID of the node
transmitting the corresponding
PRes.
Range: 0…254
2 Mapping
version
U8 RW -
1600 0 Receive PDO
Mapping
U8 RW 0 Number of mapped application
objects.
Range: 0…16
1 Mapped
object #1
U64 RW 0
…… … … …
16 Mapped
object #16
U64 RW 0
1800 0 Transmit
PDO Com-
munication
U8 R 2 Number of entries
1 Node ID U8 RW 0 Node ID of the PDO target:
• CN: not used (0)
• MN: NodeID of the PReq
target (CN)
Valid Node IDs are released by
NMT_NodeAssignment_AU32
[Node ID] Bits 0 and 8.
Node ID entry 0 indicates the
multicast PRes transmitted by
the MN.
Range: 0…254
2 Mapping
version
U8 RW 0
1A00 0 Transmit
PDO
Mapping
U8 RW 0 Number of mapped application
objects.
Range: 0…16
1 Mapped
object #1
U64 RW 0
…… … … …
16 Mapped
object #16
U64 RW 0
Index SI Name Type Acc. Def. Information