03/12 EM-ABS-01 for ACU 71
The virtual links with the possible sources are related to the Rx/TxPDO channels. For
this purpose, the eight bytes of the Rx-/TxPDOs are defined structured as inputs and
sources. This exists for each of the three PDO channels.
Each transmit PDO and receive PDO can be occupied as follows:
4 Boolean variables
or
4 uint/int variables
or
2 long variables
or
a mixture paying attention to the eight bytes available
Assignment data type / number of bytes:
Assignment
Data type Length
Boolean 2 Bytes
uint/int 2 Bytes
long 4 Bytes
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