HBM MP55 - Page 43

42
PME-MP55
HBM A0563-5.6 en
Index
(hex)
Sub-
index
Name Data type Attr. Values
1600 0..2 1st Receive PDO mapping PDOMapping rw
1601 0..2 2nd Receive PDO mapping PDOMapping rw
1800 0..2 1st Send PDO parameter PDOCommPar rw
1801 0..2 2nd Send PDO parameter PDOCommPar rw
1A00 0..2 1st Send PDO mapping PDOMapping rw
1A01 0..2 2nd Send PDO mapping PDOMapping rw
Data structures:
PDO CommPar:
Index Subindex Name Data type
0020 0 Number of entries unsigned 8
1 CAN identifier for PDO unsigned32
2 Transmission type unsigned8
3 Off-time unsigned16
4 Priority group unsigned8
CAN identifier for PDO (subindex 1):
Bits 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:
Index (16 bits) Subindex (8 bits) Object length in bits (8bit)
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