Toshiba TOSVERT VF-MB1 Series - 4.1.3. PDO object; 4.1.4. RPDO object

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4.1.3. PDO object
PDO1 to PDO3 and PDO21.
PDO set RPDO TPDO Note
PDO1
Controlword Statusword
COB-ID is variable mapping.
TPDO1 : 0x00000180+Node-ID
RPDO2 : 0x00000200+Node-ID
vl_target_velocity vl_velocity_actual_value
variable mapping variable mapping
variable mapping variable mapping
PDO2
variable mapping variable mapping
COB-ID is variable mapping.
TPDO2 : 0x00000280+Node-ID
RPDO2 : 0x00000300+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
PDO3
variable mapping variable mapping
COB-ID is variable mapping.
TPDO3 : 0x00000380+Node-ID
RPDO3 : 0x00000400+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
PDO21
variable mapping variable mapping
COB-ID is variable mapping.
TPDO21 : 0x00000480+Node-ID
RPDO21 : 0x00000500+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
4.1.4. RPDO object
Index
(Hex)
Sub
index
Access Type Default value Description
1400
00 R u8 0x02 Receive PDO1: Number of objects
01 R/W u32
0x00000200
+ Node-ID
Receive PDO1: COB-ID entry
The default value is 0x00000200 (parameter data
c711)+Node-ID. If set other than 0x00000200 except bit31,
new set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO1 data set.
02 R u8 0x0FF
Receive PDO1: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 - 240).
1401
00 R u8 0x02 Receive PDO2: Number of objects
01 R/W u32
0x80000300
+ Node-ID
Receive PDO2 COB-ID entry
The default value is 0x80000300 (parameter data c721)
+Node-ID. If set other than 0x80000300 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO2 data set.
02 R/W u8 0x0FF
Receive PDO2: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
1402
00 R u8 0x02 Receive PDO3: Number of objects
01 R/W u32
0x80000400+
Node-ID
Receive PDO3 COB-ID entry
The default value is 0x00000400 (parameter data c731)
+Node-ID. If set other than 0x80000400 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO3 data set.
02 R/W u8 0x0FF
Receive PDO3: Transmission type
“asynchronous” (254 or 255), “cyclic synchronous” (0 -240).