Parker Hauser COMPAX-S Series - Process Data Transmission (PDO); Receiving PDO Parameters

Object list
COMPAX CANopen
Communication parameters for receiving PDO1 (R-PDO1)
18
6.7 Transmission of process data to COMPAX
6.7.1 Communication parameters for receiving PDO1 (R-PDO1)
This object describes the communication parameters of the first receiving PDO.
Sub-index 0 contains the highest implementable sub-index number. Sub-index 1 describes the COB-ID. When bit
31 of this entry is set, the PDO is deactivated.
The transmission mode is defined by sub-index 2 (default=FE: Asynchronous transmission of the PDO, triggered by
a change in the value to be transmitted). A blocking period with a resolution of 100 µs can be parameterized on sub-
index 3.
The fourth sub-index specifies the priority class of the PDO.
Object Description
Index
0x1400
Standard Length
-
Min
-
Object code
Array
Elements
4
Max
-
Data type
-
Access rights
-
PDO mapping
no
Number of entries
Index: subindex
0x1400:000
Standard
0x03
Length
1
Min
0x02
Object code
-
Elements
-
Max
0x04
Data type
Unsigned8
Access rights
read
PDO mapping
no
COB-ID (R-PDO1)
Index: subindex
0x1400:001
Standard
0x00000200 +
node ID
Length
4
Min
0x00000001
Object code
-
Elements
-
Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping
no
Transmission mode
(default=FE: Asynchronous transmission of the PDO, triggered by a change of the value to be transmitted)
Index: subindex
0x1400:002
Standard
0xFE
Length
1
Min
0x00
Object code
-
Elements
-
Max
0xFF
Data type
Unsigned8
Access rights
read/write
PDO mapping
no
Blocking period in 100µs (1=100µs)
(Minimum time between two PDO transmissions)
Index: subindex
0x1400:003
Standard
0x0000
Length
2
Min
0x0000
Object code
-
Elements
-
Max
0xFFFF
Data type
Unsigned16
Access rights
read/write
PDO mapping
no