Curtis 1353 - Page 26

4 — PDO COMMUNICATIONS
Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
pg. 22
RPM type
In this type, PDO will send the RPM value (unit in revolutions per minute). In PDO2-MISO, for
Encoder 1, byte 1 is the lowest byte of RPM and byte 2 is the highest byte. For Encoder 2, byte 5 is
the lowest byte of RPM and byte 6 is the highest byte. Bytes 3&4 and bytes 7&8 are not used and
always return 0.
Position type
In this type, PDO will send the position value (unit in mm). In PDO2-MISO, for Encoder 1, byte 1
is the lowest byte of position and byte 2 is the highest byte. For Encoder 2, byte5 is the lowest byte
of position and byte 6 is the highest byte. Bytes 3&4 and bytes 7&8 are not used and always return 0.