Kollmorgen AKD series

20.6.3.2 Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the drive:
l - configuration of the communication (Objects 1800-1803h)
l - configuration of the PDO-contents (mapping, Objects 1A00-1A03h)
Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
Index 1800h to 1803h for TXPDO 1 to 4
Name transmit PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 5
Default Value 5
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID
Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID
Subindex 2
Name transmission type
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED8
Default Value FFh
AKD User Guide |
Kollmorgen | December 2010 84