D301087 0308 - BL20 CANopen 4-79
Object Dictionary
4
Object 1600
hex
to 161F
hex
- Receive PDO-Mapping Parameter
Objects 1600
hex
to 161F
hex
define, which data have to be transferred
with RPDO1 to RPDO32.
The data content (here: process output data) is represented by
product specific mappable objects.
→ "Mappable Objects", page 4-32.
For example, the process output data for the digital channels are
entered in objects 6200
hex
, 6220
hex
etc.
The description of these objects can be found in section "I/O-
Module Objects", page 4-110 ff..
Sub-indices 01
hex
to 40
hex
of the objects 1600
hex
to 161F
hex
contain
the object number, the sub-index and the length of the data that
have to be transferred via the respective RPDO.
An RPDO can transfer a maximum number of 8 bytes (64 bit).
Objects 1600
hex
to 1603
hex
(RPDO1 to RPDO4) references by default
the values for the first 64 digital output channels and for the first 12
analog output channels, provided that the values are represented by
the objects 6200
hex
(digital values) and 6411
hex
(analog values).
Table 35:
Object 1600
hex
to
161F
hex
Object description
INDEX 1600
hex
to 161F
hex
Name Receive PDO-mapping
parameter
Object code RECORD
Data Type PDO-mapping
Value description
Sub-index 00
hex
Description highest sub-index used
Access rw
PDO-mapping No
Value range, BL20 0 to 64
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