Filter
Top Products
86 Fieldbus interface
8 Object directory IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
Bit assignment subindex 01h
Bit 31 A R_PDO can only be used if bit 31="0".
Bit 30 RTR bit If a device supports R_PDOs with RTR (remote transmission request),
it can request a PDO from a PDO producer with RTR = "0" in accordance
with the producer-consumer relationship.
The product cannot request PDOs, but it can respond to the request for
a PDO, see RTR bit for T_PDO1 settings (1800h).
Bit coding, subindex 02h The control for evaluating R_PDO data is specified via subindex 02h.
The values 241..251 are reserved.
Subindex 04
h
, compatibility entry R_PDO4
Meaning For compatibility purposes only
Access read-write
PDO mapping –
Value range –
Default value –
Can be saved –
Subindex 05
h
, event timer R_PDO4
Meaning Time setting for event triggering
Access read-write
PDO mapping –
Value range –
Default value 0
Can be saved –
Bit Acces
s
Value Meaning
31 rw 0
b
0: PDO is active 1: PDO is inactive
30 ro 0
b
0: RTR (see below) is possible 1: RTR is not per-
mitted
29 ro 0
b
0: 11 bit identifier (CAN 2.0A) 1: 29 bit identifier
(CAN 2.0B)
28-11 ro 0000
h
Only relevant if bit 29=1 is not used by the product.
10-7 rw 0100
h
Function code, bit 10-7 of the COB ID
6-0 ro – Node address, bit 6-0 of the COB ID
Transmission type cyclic acyclic synchronous asynchronous RTR-controlled
0 – X X – –
1-240 X – X – –
252 – – X – X
253 – – – X X
254 – – – X –
255 – – – X –