3.1.9.1.20 0x1403 Receive PDO4 parameter
Indicates the communication parameters for the RPDO 4.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
COB-ID used by
PDO
0x1403:1 UDINT 32 2147484928 readwrite
The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only
the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or
communication is restarted.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Transmission
type
0x1403:2 USINT 8 1 readwrite
A number is stored in this subindex that defines the time at which the received data become valid.
Name Index:Sub Type Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access PDO
Mapping
Inhibit time 0x1403:3 UINT 16 0 readwrite
This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of
a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.
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