Festo CiA 402 Manual page 30

3 CANopen access procedure
Sub-Index
Description
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Note that the object groups transmit_pdo_parameter_xxx and
transmit_pdo_mapping_xxx can only be written when the PDO is deactivated (bit 31 in
cob_id_used_by_pdo_xxx is set).
1. Transmit PDO
Index Comment
1800 _00 number of entries
h h
1800 _01 COB-ID used by PDO
h h
1800 _02 transmission type
h h
1800 _03 inhibit time (100 μs)
h h
1A00 _00 number of mapped objects
h h
1A00 _01 first mapped object
h h
1A00 _02 second mapped object
h h
1A00 _03 third mapped object
h h
1A00 _04 fourth mapped object
h h
2. Transmit PDO
Index Comment
1801 _00 number of entries
h h
1801 _01 COB-ID used by PDO
h h
1801 _02 transmission type
h h
1801 _03 inhibit time (100 μs)
h h
1A01 _00 number of mapped objects
h h
1A01 _01 first mapped object
h h
1A01 _02 second mapped object
h h
1A01 _03 third mapped object
h h
1A01 _04 fourth mapped object
h h
30
04
h
fourth_mapped_object_tpdo1
UINT32
rw
no
–
–
Table
Type Acc.
UINT8 ro
UINT32 rw
UINT8 rw
UINT16 rw
UINT8 rw
UINT32 rw
UINT32 rw
UINT32 rw
UINT32 rw
Types Acc.
UINT8 ro
UINT32 rw
UINT8 rw
UINT16 rw
UINT8 rw
UINT32 rw
UINT32 rw
UINT32 rw
UINT32 rw
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Default Value
03
h
C0000181
h
FF
h
0000
h
01
h
60410010
h
00000000
h
00000000
h
00000000
h
Default Value
03
h
C0000281
h
FF
h
0000
h
02
h
60410010
h
60610008
h
00000000
h
00000000
h