The Indices Of The Pdo Mapping - WAGO CANopen 752 Manual

52 • CANopen

7.5.1 The Indices of the PDO Mapping

7.5.1.1 Communication parameter
Used COB-ID of the PDO, Design: Communication Record Sub-Index: 1
Bit
0 - 10
11-28
29
30
31
Transmission Type, Design: Communication Record, Sub-Index: 2
Transmission
type
0
1-240
241-251
252
253
254
255
7.5.1.2 PDO Mapping parameter
Design: PDO Mapping Entry, Sub-Index: 0x01-0x08
Bit
0 - 7
8-15
16-31
Note
One object entry can be mapped in max. 2 differnt valid PDOs.
Value Meaning
Bit 0 - 10 der COB-ID
Bit 11 - 28 der COB-ID (if Bit 29 = 1)
ID:
0 11-Bit ID
1 29-Bit ID
RTR on this PDO
0 allowed
1 not allowed
PDO
0 valid
1 not valid
PDO transmission
cyclic acyclic
X
X
reserved
Value Meaning
Object length
Sub-Index
Index
synchronous asynchronous
X
X
X
X
X
X
Fieldbus Dependent I/O Module
RTR only
X
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