ABB FCAN-01 User Manual page 140

140 Communication protocol
Index Sub- Name
(hex) index
1800 0 Transmit
PDO1
Parame-
ter
1 COB ID
2 Trans-
mission
Type
3 Inhibit
Time
5 Event
Timer
1A00 0 Transmit
PDO1
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: 180h + Node ID
U8 RW Default: 255 (asynchronous
transmission)
U16 RW Minimum interval for PDO
transmission (= value x 100
microseconds)
U16 RW 0...65535 ms
0 = Not used
Default: 0
U8 RW Number of mapped objects,
0...4
U32 RW Default: 60410010h = 6041h
Status word
format.
U32 RW
U32 RW
U32 RW
2)
3)
3)
. See Mapping