VIPA CPU 21 Series - Page 251

Manual VIPA CPU 21x Chapter 8 Deployment CPU 21xCAN
HB103E - Rev. 05/45 8-27
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1600
...
0x1627
0 Number of
Elements
Unsigned8 rw N 0x01 Mapping parameter of the first
receive PDO; subindex 0:
number of mapped objects
1 1
st
mapped
object
Unsigned32 rw N 0x62000108 (2 byte index,
1 byte subindex,
1 byte bit-width)
2 2
nd
mapped
object
Unsigned32 rw N 0x62000208 (2 byte index,
1 byte subindex,
1 byte bit-width)
... ... ... ... ... ... ...
8 8
th
mapped Unsigned32 rw N 0x62000808 (2 byte index,
1 byte subindex,
1 byte bit-width)
The reception PDOs get a default mapping automatically from the master
depending on the connected modules.
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1800
...
0x1827
0 Number of
Elements
Unsigned8 ro N 0x05 Communication parameter
of the first transmit PDO,
subindex 0: number of
following parameters
1 COB-ID Unsigned32 rw N 0x80000180 +
NODE_ID
COB-ID TxPDO1
2
Transmission
type
Unsigned8 rw N 0xFF Transmission type of the
PDO
3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay
[value x 100 µs]
5 Event time Unsigned16 rw N 0x0000 Event timer [value x 1 ms]
Sub-index 1 (COB-ID): The lower 11Bit of the 32Bit value (Bits 0-10)
contain the CAN identifier, the MSBit (Bit 31) shows if the PDO is active (1)
or not (0), Bit 30 shows if a RTR access to this PDO is permitted (0) or not
(1). The sub-index 2 contains the transmission type, sub-index 3 the
repetition delay time between two equal PDOs. If an event timer exists with
a value unequal 0, the PDO is transmitted when the timer exceeds.
If a "inhibit timer" exists, the event is delayed for this time.
Mapping RxPDO
Communication
parameter TxPDO1