ABB FCAN-01 User Manual page 138

138 Communication protocol
Index Sub- Name
(hex) index
1405 0 Receive
PDO6
Parame-
ter
1 COB ID
2 Trans-
mission
Type
3 Inhibit
time
5 Event
timer
1605 0 Receive
PDO6
Mapping
1 Mapped
Obj 1
2 Mapped
Obj 2
3 Mapped
Obj 3
4 Mapped
Obj 4
Type Attri- Information
bute
U8 RO Number of entries
U32 RW Default: 80000300h + Node
ID (= PDO not valid)
U8 RW Default: 255 asynchronous
U16 RW Not used for Rx PDO
U16 RW 0...65535 ms
0 = not used
Default: 0
U8 RW Number of mapped objects,
0...4
U32 RW Default: 60400010h = 6040h
Control word
format.
U32 RW
U32 RW
U32 RW
2)
3)
3)
. See Mapping
2)