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11Part 2: DSP-402 Implementation
PDO Objects
Consumer PDO1 (RPDO1) 1400h (Object Description)
Index Name Object Code Data Type Category
1400
h
Receive PDO1 Parameter Record PDO Communications Parameters Mandatory
Consumer PDO1 (RPDO1) 1400h (Entry Description)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W Mfg. Specific
01h COB-ID used by PDO Mandatory R/W
0000 0200
h
+
NODE ID
02h Transmission Type Mandatory R/W 255
d
03h Inhibit Time Optional
R/W
04h Reserved
05h Event Timer Optional R/W 0
d
1600h (Object Description – Mapping Parameters)
Index Name Object Code Data Type Category
1600
h
Receive PDO1 Mapping Record PDO Mapping Mandatory
1600h (Entry Description – Mapping Parameters)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W 01
h
01h 1st Application Object Mandatory R/W 6040 0010
h
02h 2nd Application Object Mandatory R/W Mfg. Specific
03h 3rd Application Object Mandatory R/W Mfg. Specific
04h 4th Application Object Mandatory R/W Mfg. Specific
05h 5th Application Object Mandatory R/W Mfg. Specific
06h 6th Application Object Mandatory R/W Mfg. Specific
07h 7th Application Object Mandatory R/W Mfg. Specific
08h 8th Application Object Mandatory R/W Mfg. Specific