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The Object Dictionary
1606218 02 08/2006 155
Object 1400H: 1st Receive PDO Communication Parameter
Description This object contains the receive PDO identifier.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Sub-
index
Description Data type Default value Acces
s
PDO
Mapping
Backed up
0 Sub-index number UNSIGNED8 2H ro no yes
1 COB-ID UNSIGNED32 0000 0200H + Node ID rw no yes
2 Transmission mode UNSIGNED8 FFH (255 Dec) rw no yes
Transfer code Transmission mode Notes
Dec. Hex. Cyclic Acyclic Synchrono
us
Asynchrono
us
0 0 x x Send PDO on first SYNC message
following an event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB Reserved -
252 to 253 FC to FE Reserved -
254 to 255 FE to FF x Send PDO on event
Note: For modes 254 and 255, the event triggering the send is defined by the
message producer.