Delta ASDA-A3 Series User Manual page 703

CANopen Mode
Object 1400h - 1403h: RPDO communication parameter
Index
Name
12
Object code
Data format
Access
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data format
Access
PDO mapping
Setting range
Default
Object function:
31
Bit
15
Bit
Bit 30 - Bit 11
The COB-ID setting format is as follows:
12-42
30 29 28 27
12
14 13 11
Bit Function
Bit 10 - Bit 0 COB-ID
-
PDO function
Bit 31
switch
Communication object
R_PDO1
R_PDO2
R_PDO3
R_PDO4
1400h - 1403h
Receive PDO parameter
RECORD
PDO CommPar
RW
0
Maximum number of sub-index supported
UNSIGNED8
RO
No
5
5
1
COB-ID used by PDO
UNSIGNED32
RW
No
UNSIGNED32
Node-ID: 0
26 25 24 23 22
10 9 8 7 6
The data size is 10-bit.
-
0: enable PDO function.
1: disable PDO function.
Enable / disable the PDO function to determine if PDO is
used in the operational state.
Object parameter
1400h
1401h
1402h
1403h
21 20 19 18 17
4
5 3 2 1
Description
COB-ID
DEC (HEX)
512 (200h) + Node-ID
768 (300h) + Node-ID
1024 (400h) + Node-ID
1280 (500h) + Node-ID
ASDA-A3
16
0