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EDS84DMOTCAN EN 3.0 - 11/2011 L 99

Communication manual 8400 motec CANopen

Implemented CANopen objects

I-1400 - RPDO1 communication parameter

Communication parameters for receiving process data via RPDO1

[13-11] Data telegram assignment

How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").

2. Change identifier.

3. Activate identifier (set bit 31 to "0").

Description of subindex 1

[13-12] I-1400 / I-1401, subindex 1

Index:

I-1400

Name:

RPDO1 communication parameter

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0: Highest subindex supported 5 - (read access only) ro U8

1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time - - (not used for RPDOs) rw U16

4: Compatibility entry - - (reserved, read or write access results in error

message 0x06090011)

rw U8

5: Event timer - - (not used for RPDOs) rw U16

Subindex Meaning Code

0 The value 5 is permanently set.

• Max. 5 subindexesare supported.

1 RPDO1 identifier

• According to the "Predefined Connection Set", the

basic setting is: identifier = 0x200 + node ID

C00354/1

2 RPDO transmission type according to DS301 V4.02

Transmission type

( 52)

C00323/1

8th byte 7th byte 6th byte 5th byte

Data 4 Data 3 Data 2 Data 1

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0

0/1 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".

Bit no. Value Explanation

0 ... 10 0/1 11-bit identifier

(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".

29* 0

30 0 RTR to this PDO permissible (cannot be set)

1 RTR to this PDO not permissible (Lenze)

31 0 PDO active

1 PDO not active

1 2 ... 94 95 96 97 98 99 100 101 102 103 104 ... 110 111

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