ABB NCAN-02 - Page 48

Chapter 6 – Communication
6-16 NCAN-02 Installation and Start-up Guide
1600 0 1st Receive PDO
Mapping
Unsigned32 RO Number of mapped application objects.
1 1st Mapping Object Unsigned32 RO 6040h (Control Word [Data set 1 Word 1])
2 2st Mapping Object Unsigned32 RO 2002h (Reference 1 [Data set 1 Word 2])
3 3rd Mapping Object Unsigned32 RO 2003h (Reference 2 [Data set 1 Word 3])
1601 0 2nd Receive PDO
Mapping
Unsigned32 RO Number of mapped application objects.
1 1st Mapping Object Unsigned32 RO 2007h (Reference 3 [Data set 3 Word 1])
2 2st Mapping Object Unsigned32 RO 2008h (Reference 4 [Data set 3 Word 2])
3 3rd Mapping Object Unsigned32 RO 2009h (Reference 5 [Data set 3 Word 3])
1602 0 3rd Receive PDO
Mapping
Unsigned32 RO Number of mapped application objects.
1 1st Mapping Object Unsigned32 RO 200Dh (Reference 6 [Data set 5 Word 1])
2 2st Mapping Object Unsigned32 RO 200Eh (Reference 7 [Data set 5 Word 2])
3 3rd Mapping Object Unsigned32 RO 200Fh (Reference 8 [Data set 5 Word 3])
1603 0 4th Receive PDO
Mapping
Unsigned32 RO Number of mapped application objects.
1 1st Mapping Object Unsigned32 RO 2013h (Reference 9 [Data set 7 Word 1])
2 2st Mapping Object Unsigned32 RO 2014h (Reference 10 [Data set 7 Word 2])
3 3rd Mapping Object Unsigned32 RO 2015h (Reference 11 [Data set 7 Word 3])
1800 0 1st Transmit PDO
Parameter
Unsigned8 RO Number of entries.
1 COB ID Used by PDO Unsigned32 RW Default: 180h + Node ID.
2 Transmission Type Unsigned8 RW 254 (event-controlled asynchronous transmission)
3 Inhibit Time Unsigned16 RW Not supported.
4 CMS Priority Group Unsigned8 RW 3
1801 0 2nd Transmit PDO
Parameter
Unsigned8 RO Number of entries.
1 COB ID Used by PDO Unsigned32 RW Default: 280h + Node ID.
2 Transmission Type Unsigned8 RW 254 (event-controlled asynchronous transmission)
3 Inhibit Time Unsigned16 RW Not supported.
4 CMS Priority Group Unsigned8 RW 3
1802 0 3rd Transmit PDO
Parameter
Unsigned8 RO Number of entries.
1 COB ID Used by PDO Unsigned32 RW Default: 380h + Node ID.
2 Transmission Type Unsigned8 RW 254 (event-controlled asynchronous transmission)
3 Inhibit Time Unsigned16 RW Not supported.
4 CMS Priority Group Unsigned8 RW 3
1803 0 4th Transmit PDO
Parameter
Unsigned8 RO Number of entries.
1 COB ID Used by PDO Unsigned32 RW Default: 480h + Node ID.
2 Transmission Type Unsigned8 RW 254 (event-controlled asynchronous transmission)
3 Inhibit Time Unsigned16 RW Not supported.
4 CMS Priority Group Unsigned8 RW 3
Index
(Hex)
Sub-
index
Name Type
Attri-
bute
Information