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Index Sub-
Index
4h
1400h -
0h
1h
31
0: PDO is valid
1: PDO is invalid
The PDO valid/not valid bit allows to select which PDOs are used in the operational
state. Only this bit can be changed by writing to this parameter. The identifiers
themselves cannot be changed. The default ID is 200h + Node-ID.
2h
Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll-
request / poll-response) are supported. Type 250 is LinMot specific and not part of the
1401h -
0h
1h
The default ID is 300h + Node-ID. See 1400h sub 1h for additional details.
2h
The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.
1402h -
0h
1h
The default ID is 400h + Node-ID. See 1400h sub 1h for additional details.
2h
The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.
1403h -
0h
1h
The default ID is 500h + Node-ID. See 1400h sub 1h for additional details.
2h
The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.
1600h -
0h
1h-8h
Contains the mapping for RxPDO 1. A mapping entry is built as follows:
16-31
index
1601h -
NTI AG / LinMot
Name
Serial Number
Contains the last four ASCII characters of the serial number.
Receive PDO Communication
Parameter 0 (RxPDO 1)
Number of Entries
COB-ID
30
0: RTR allowed
1: no RTR allowed
Transmission type
CANopen standard. The Default is 1 (cyclic synchronous).
Receive PDO Communication
Parameter 1 (RxPDO 2)
Number of Entries
COB-ID
Transmission type
Receive PDO Communication
Parameter 2 (RxPDO 3)
Number of Entries
COB-ID
Transmission type
Receive PDO Communication
Parameter 3 (RxPDO 4)
Number of Entries
COB-ID
Transmission type
Receive PDO Mapping Parameter
0 (RxPDO 1)
Number of mapped application
objects in PDO
Number of valid mapping entries. Can be between 0 and 8.
PDO Mapping Entry 1-8
8-15
sub-index
Receive PDO Mapping Parameter
1 (RxPDO 2)
Access
Type
ro
-
ro
ro
29
28-11
0: (11-bit ID)
All 0
1: (29-bit ID)
if 11-bit
identifier
rw
-
ro
ro
rw
-
ro
ro
rw
-
ro
ro
rw
-
rw
rw
0-7
Object length
-
Data Type
Unsigned32
-
Unsigned8
Unsigned32
10-0
11-bit identifier
Unsigned8
-
Unsigned8
Unsigned32
Unsigned8
-
Unsigned8
Unsigned32
Unsigned8
-
Unsigned8
Unsigned32
Unsigned8
-
Unsigned8
Unsigned32
-
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