Pdo Object; Rpdo Object - Toshiba TOSVERT VF-MB1 Series Manual

4.1.3. PDO object

PDO1 to PDO3 and PDO21.
PDO set
PDO1
PDO2
PDO3
PDO21

4.1.4. RPDO object

Index Sub
Access
(Hex) index
00
01 R/W
1400
02
00
01 R/W
1401
02 R/W
00
01 R/W
1402
02 R/W
RPDO
Controlword
vl_target_velocity
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
Type Default value
R u8 0x02
0x00000200
u32
+ Node-ID
R u8 0x0FF
R u8 0x02
0x80000300
u32
+ Node-ID
u8 0x0FF
R u8 0x02
0x80000400+
u32
Node-ID
u8 0x0FF
TPDO
Statusword
vl_velocity_actual_value
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
variable mapping
Receive PDO1: Number of objects
Receive PDO1: COB-ID entry
The default value is 0x00000200 (parameter data
c711)+Node-ID. If set other than 0x00000200 except bit31,
new set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO1 data set.
Receive PDO1: Transmission type
"asynchronous" (254 or 255), "synchronous" (0 - 240).
Receive PDO2: Number of objects
Receive PDO2 COB-ID entry
The default value is 0x80000300 (parameter data c721)
+Node-ID. If set other than 0x80000300 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO2 data set.
Receive PDO2: Transmission type
"asynchronous" (254 or 255), "synchronous" (0 -240).
Receive PDO3: Number of objects
Receive PDO3 COB-ID entry
The default value is 0x00000400 (parameter data c731)
+Node-ID. If set other than 0x80000400 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO3 data set.
Receive PDO3: Transmission type
"asynchronous" (254 or 255), "cyclic synchronous" (0 -240).
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Note
COB-ID is variable mapping.
TPDO1 : 0x00000180+Node-ID
RPDO2 : 0x00000200+Node-ID
COB-ID is variable mapping.
TPDO2 : 0x00000280+Node-ID
RPDO2 : 0x00000300+Node-ID
COB-ID is variable mapping.
TPDO3 : 0x00000380+Node-ID
RPDO3 : 0x00000400+Node-ID
COB-ID is variable mapping.
TPDO21 : 0x00000480+Node-ID
RPDO21 : 0x00000500+Node-ID
Description