Delta ASDA-A3 Series User Manual page 995

CANopen Mode
Objects 1400h - 1403h: Receive PDO communication parameter
Index
12
Name
Object code
Data type
Access
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Sub-index
Description
Data type
Access
PDO mapping
Setting range
Default
Object function:
Bit
Bit
Bit 0 - Bit 10
Bit 11 - Bit 30
The COB-ID setting format is as follows:
12-46
1400h, 1401h, 1402h, 1403h
Receive PDO communication parameter
RECORD
PDO CommPar
RW
0
Number of sub-index
UNSIGNED8
RO
No
5
5
1
COB-ID used by PDO
UNSIGNED32
RW
No
UNSIGNED32
Node-ID: 0
28
31 30 29 27
15 14 13 12 11
Bit Function
COB-ID
Reserved
PDO function
Bit 31
switch
Communication object
RxPDO1
RxPDO2
RxPDO3
RxPDO4
26 25 24 23 22
10 9 8 7 6
The data size is 11-bit.
-
0: enable PDO function.
1: disable PDO function.
Enable / disable the PDO function to determine if the PDO
is used in the Operational state.
Object index
1400h
1401h
1402h
1403h
20
21 19 18 17
5 4 3 2 1
Description
COB-ID
DEC (HEX)
512 (200h) + Node-ID
768 (300h) + Node-ID
1024 (400h) + Node-ID
1280 (500h) + Node-ID
ASDA-A3
16
0