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T_PDO COMMUNICATION PARAMETERS
Index Sub-Index Name Description Type Attribute
1801h
0
AI_T_PDO_CPAR2
Sub-index number(5) U8 R
1
COB_ID used from PDO
(180h + Node_ID )
U32 R
2 Transmission type PDO (*) U8 R
3 Inhibition time (0) U16 R/W
4 Reserved U8 R/W
5
Event timer (expressed in ms, default
8 ms)
U16 R/W
(*) PDO Transmission type:
00h = synchronous acyclic (PDO is transmitted following the receipt of SYNC, but only if a new me-
asurement has been acquired).
01h = synchronous cyclic (PDO is always transmitted after receiving SYNC).
FFh = asynchronous (default) (PDO is periodically transmitted according to the set time, setting “event
timer” to zero, transmission is disabled).
Other types of transmission provided by the CIA DS-301 are not supported.
T_PDO MAPPING PARAMETERS
Index Sub-Index Name Description Type Attribute
1A01h
0
T_PDO_MPAR2
Number of “application objects”
mapped in the PDO (2)
U8 R
1 Applic.Obj.map 1 (*) U32 R
2 Applic.Obj.map 2 (*) U32 R
3 Applic.Obj.map 3 (*) U32 R
4 Applic.Obj.map 4 (*) U32 R
Below is the sub-index structure from 1h to 6h.
Byte: MSB LSB
Index (16 bit) sub-index (8 bit) object lenghtr (8 bit)
(*) The following default values are defined:
• Sub-index 0 = 6h.
• Sub-index 1 = 2003 0120h ( Index = 2003h, sub-index 01, 32 bit lenght).
• Sub-index 2 = 2000 0110h ( Index = 2000h, sub-index 01, 16 bit lenght).
• Sub-index 1 = 2004 0120h ( Index = 2004h, sub-index 01, 8 bit lenght).
• Sub-index 2 = 2005 0120h ( Index = 2005h, sub-index 01, 8 bit lenght).
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