4 CANopen communication settings
4.5 Object directory
CANopen for DA1, DC1, DE11 09/16 MN040019EN www.eaton.com 29
4.5.4 Server SDO Parameter
PowerXL devices support two receive PDOs (receive PDO communication
parameters 1400
hex
and 1401
hex
).
Objects 1600
hex
and 1601
hex
contain the mapping parameters for the
Rx PDOs.
Index
[hex]
Subindex
[hex]
Objectname Significance Access
right
DS Data type
1200 00 Number of Entries Number of inputs ro 02 UNSIGNED8
01 COB-ID Client a Server (rx) COB-ID of the RxSDO. The ID is
derived from the Predefined
Connection Set.
ro 00000600 +
Node ID
UNSIGNED32
02 COB-ID Server a Client (tx) COB-ID of the TxSDO. The ID is
derived from the Predefined
Connection Set.
ro 00000580 +
Node ID
UNSIGNED32
Index
[hex]
Subindex
[hex]
Objectname Significance Access
right
DS Data type
1400
1401
1st Receive PDO Parameter
2nd Receive PDO Parameter
Number of valid subindexes ro 03 RECORD
00 Number of Entries Maximum number of entries ro 02 UNSIGNED8
01 PDO COB-ID COB-ID of 1st Rx PDO
COB-ID of 2nd Rx PDO
rw 4000002 00
400000300
+ Node ID
UNSIGNED32
02 Transmission Type PDO transmission type:
asynchronous
rw 254 UNSIGNED8
1600
00 Number of Mapped Application
Objects
Highest subindex used rw 04 UNSIGNED8
01 1st Mapping Object rw 20000010 UNSIGNED32
02 2nd Mapping Object rw 20000010 UNSIGNED32
03 3rd Mapping Object rw 20020010 UNSIGNED32
04 4th Mapping Object rw 20020010 UNSIGNED32
1601
00 Number of Mapped Application
Objects
Highest subindex used rw 4 UNSIGNED8
01 1st Mapping Object rw 00060010 UNSIGNED32
02 2nd Mapping Object rw 00060010 UNSIGNED32
03 3rd Mapping Object rw 00060010 UNSIGNED32
04 4th Mapping Object rw 00060010 UNSIGNED32
￫
By default, only the first PDO will be enabled.
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