HBK MP60 - Manufacturer-Specific Objects and Examples

MP60, MP60DP
CAN INTERFACE DESCRIPTION
52
Index Subindex Name Data type
0020 0 Number of entries unsigned 8
1 PDO CAN Identifier unsigned32
2 Transmission type unsigned8
3 Lockout time unsigned16
4 Priority group unsigned8
PDO CAN Identifier (subindex 1):
Bit Value Meaning
31 (MSB) 0
1
PDO valid
PDO invalid
30 0
1
RTR allowed
RTR not allowed
29 0
1
11-bit ID
29-bit ID
28..0 X CAN ID
PDO mapping:
Index Subindex Name Data type
0021 0 Number of mapped objects unsigned8
1 1st mapped object unsigned32
2 2nd mapped object unsigned32
... ... unsigned32
Structure of a PDO mapping entry:
ÑÑÑÑÑÑ
ÑÑÑÑÑÑ
Index (16 bits)
ÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑ
Subindex (8 bits)
ÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑ
Object length in bits (8-bit)
SDO parameter:
Index Subindex Name Data type
0022 0 Number of entries unsigned8
1 COB ID client->server unsigned32
2 COB ID server->client unsigned32
3 Node ID (optional) unsigned8