Communication over CANopen
6.3 PDO services
Fieldbuses
190 Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
– Set the COB-ID of RPDO1 to "valid":
p8700[0] = 40000232 hex
r8750 shows which object is mapped to which PZD:
PZD2 (r8750[1]) = 5800 (torque limit)
3. Link the PZD receive word 2 in the receive word (p2050) with the torque limit:
p2050[1] = p1520[0]
You have now transferred the value for the torque limit into the communication.
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