5.1.3. PDO object
PDO1 to PDO3 and PDO21.
COB-ID is variable mapping.
TPDO1 : 0x00000180+Node-ID
RPDO2 : 0x00000200+Node-ID
COB-ID is variable mapping.
TPDO2 : 0x00000280+Node-ID
RPDO2 : 0x00000300+Node-ID
COB-ID is variable mapping.
TPDO3 : 0x00000380+Node-ID
RPDO3 : 0x00000400+Node-ID
COB-ID is variable mapping.
TPDO21 : 0x00000480+Node-ID
RPDO21 : 0x00000500+Node-ID
Receive PDO1: Number of objects
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.
Receive PDO1: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 - 240).
Receive PDO2: Number of objects
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.
Receive PDO2: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
Receive PDO3: Number of objects
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.
Receive PDO3: Transmission type
“asynchronous” (254 or 255), “cyclic synchronous” (0 -240).
Receive PDO21: Number of objects
Receive PDO21 COB-ID entry
The default value is 0x80000500 (parameter data c741)
+Node-ID. If set other than 0x80000500 except bit31, new set
data is used for COB-ID (=new data).
Bit31 is an enable/disable flag of RPDO21 data set.
Receive PDO21: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
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