BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-94
Object 1F81
hex
- Slave Assignment
Object 1F81
hex
describes, as per CiA DSP-302, all the slaves that are
coupled to the NMT-Master. It contains information on error control
parameters and actions that are triggered by error events. All other
parameters for a slave are only valid if this slave is described in
object 1F81
hex
.
Note
Object 1F81
hex
is only valid if the BL20 is defined as the NMT-Master
(see object 1F80
hex
, bit 0).
Table 44:
Object 1F81
hex
Object description
INDEX 1F81
hex
Name Slave assignment
Object code ARRAY
Data Type Unsigned32
Access rw
Value description
Sub-index 00
hex
Description Maximum number of slaves
Access rw
PDO-mapping No
Value range 1 to 127
Default value 127
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