Kohler CURTIS 3401T - Preconfigured PDO Data Details; CANopen DATA STRUCTURES; RPDO1 and RPDO2 Data

6 — CANopen COMMUNICATIONS
Curtis Model 3401T – August 2022 Return to TOC
pg. 48
PDOs
TPDOs 1–2 and RPDOs 1–4 are precongured to transmit and receive data used by the 3401T’s
preset user interfaces. e following topics describe PDO considerations and the precongured
PDOs.
Note: TPDO3 and TPDO4 are reserved.
PDO COB-IDs
e following table lists the bits that dene a PDO COB-ID:
Bit(s) Description
31 Indicates whether the PDO is enabled. 0b indicates enabled.
30 Reserved. Always 0.
29 Indicates whether the COB-ID is 11 or 29 bits. The device supports only
11-bit COB-IDs, so the value is always 0.
11–28 Bits that would be set for 29-bit COB-IDs. For the 3401T, these bits = 0.
7–10 The PDO’s function code. The function codes are listed below:
• RPDO1: 0100b
• RPDO2: 0110b
• RPDO3: 1000b
• RPDO4: 1010b
• TPDO1: 0011b
• TPDO2: 0101b
• TPDO3: 0111b
• TPDO4: 1001b
0–6 The device’s node ID.
For example, if the device’s node ID is 2Eh and RPDO1 is enabled, the RPDO1 COB-ID is 22Eh
PDO Timing
e PDOs are asynchronous and are periodically transmitted and received. e 3401T does not
support synchronous PDOs. e following list describes the PDOs’ event times:
• RPDOs: 60,000ms (1 minute). If the 3401T does not receive data within one minute, the LCD
will display *.* to indicate that data is not being received.
• TPDOs: 40ms