ABB FCAN-01 User Manual page 123

Object Sub-
index index
1A00 02
1A00 03
1A00 00
1800 01
1)
Before modifying PDO parameters or mapping, the PDO must be disabled by setting
bit 31 of its COB-ID to 1. Remember to enable the PDO again after the mapping has
been set.
2)
Before changing the contents of a PDO mapping object, the "number of entries" field
must be set to zero. After the mapping is done, the number of the entries must be
set according to the actual number of the mapped entries.
Name
Tx PDO1 Mapping,
Mapped object 2
Tx PDO1 Mapping,
Mapped object 3
Tx PDO1 Mapping,
Number of entries
Tx PDO1
Parameter, COB-ID
Communication protocol 123
Write
value
(hex)
60440010 6044h vl control effort
(subindex 0, length 16
bits)
40011410 Parameter 01.20
(length 16 bits)
3 3 objects mapped
183 Enable Tx PDO1, use
COB-ID 183h.
Description
2)