Description Of Pdo Cob-Id Entry; Pdo Mapping Entry Structure - Example - ABB FCAN-01 User Manual

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Description of PDO COB-ID entry

Bit Value
31 0
1
30 0
1
29 0
1
28...11 0
x
10...0 x
(1
Recommended
(2
Not supported

PDO mapping entry structure - example

Type MSB
UINT32 31
Description
Dictionary structure and entries
Description
PDO valid
PDO not valid
RTR allowed on this PDO
No RTR allowed on this PDO
11 bit ID is used (CAN 2.0A).
29 bit ID is used (CAN 2.0B).
If 11 bit ID is used, bit 28...11 = 0.
If 29 bit ID is used, bit 28...0 = COB ID.
COB ID
16 15
Index
eg, 1400h
(16 bits)
(1
(2
8 7
Subindex
eg, 01
(8 bits)
LSB
Object length in bits
eg, 20h = 32 bits
(8 bits)
0