D301087 0308 - BL20 CANopen 4-87
Object Dictionary
4
The Transmission type (Sub-index 02
hex
) can have the following
values:
Table 38:
Description of the
COB-ID entry
(Sub-index 01
hex
)
Bit
number
Value Description
31 (MSB) 0 PDO exists/is valid
1 PDO does not exist/is invalid
30 0 RTR is possible with this PDO
1 RTR is not possible with this PDO
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 to 11 0 if bit 29=0
X if bit 29=1: bits 28 to 11 of the COB-ID
10 to 0
(LSB)
X Bit 10 to 0 of the COB-ID
Table 39:
Transmission type
of BL20
Transmis-
sion type
PDO transmission
cyclic acyclic synchr. asynchr. only with
RTR
0
× ×
1 × ×
2 to 252 reserved
253
× ×
254 reserved
255 ×
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