Siko AG06 - Page 74

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 74 of 114
Sub-index
05
h
Description
Event Timer (no function: Compatibility entry)
Access
read
PDO mapping
no
Data type
Unsigned16
Default
0
EEPROM
no
Format description sub-index 01
h
:
Bit 31
0 = PDO exists / is valid
1 = PDO does not exist / is not valid
Bit 30
not used
Bit 29
0 = 11-bit identifier (CAN 2.0A)
1 = 29-bit identifier (CAN 2.0B)
Bit 28 - 11
if bit 29=1, bit 28 ... 11 of the 29-bit identifier
Bit 10 - 7
4 bit function code of the identifier
Bit 6 - 0
7 bit Node ID of the identifier
Data description sub-index 02
h
:
0
synchronous: RPDO1 is processed only after a SYNC message has been
received
1 ... 240
synchronous: identical with value 0
241 ... 251
reserved
252
reserved
253
reserved
254
identical with value 255
255
asynchronous: RPDO1 is immediately processed
PDO mapping:
See object 1600
h
(1
st
receive PDO mapping parameter).
Processing of PDOs:
Receive PDOs are processed in the NMT status 'OPERATIONAL' only. It is not recommended to
change the transfer type of the RPDO1 since otherwise the functioning of the state machine
would no longer be ensured.
Changing PDO parameters:
PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only.