VIPA System 300V - Page 105

Manual VIPA System 300V Chapter 4 CANopen
HB130E - IM - Rev. 08/26 4-33
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1400 0 Number of
Elements
Unsigned8 ro N 0x02 Communication parameter for
the first receive PDOs, sub-
index 0: number of following
parameters
1 COB-ID Unsigned32 rw N 0xC0000200
+ NODE_ID
COB-ID RxPDO1
2 Transmis-
sion type
Unsigned8 rw N 0xFF Transmission type of the PDO
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.
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1401 0 Number of
Elements
Unsigned8 ro N 0x02 Communication parameter for
the first receive PDOs, sub-
index 0: number of following
parameters
1 COB-ID Unsigned32 rw N 0xC0000300
+ NODE_ID
COB-ID RxPDO2
2
Transmission
type
Unsigned8 rw N 0xFF Transmission type of the PDO
Index Sub-
index
Name Type Attr. Map. Default value Meaning
0x1402 0 Number of
Elements
Unsigned8 ro N 0x02 Communication parameter for
the first receive PDOs, sub-
index 0: number of following
parameters
1 COB-ID Unsigned32 rw N 0xC0000400
+ NODE_ID
COB-ID RxPDO3
2
Transmission
type
Unsigned8 rw N 0xFF Transmission type of the PDO
Communication
parameter RxPDO1
Communication
parameter RxPDO2
Communication
parameter RxPDO3