In Modes 254 and 255, the event to trigger transmission is defined by the message producer.
This object stores information of received PDO.
Properties of the object
Object properties:
|
Sub index |
Description |
Data Type Default |
Access PDO mapping Backup |
|---|---|---|---|
|
0 |
Sub index number |
UNSIGNED8 2 |
ro (read only) × ○ |
|
1 |
COB-ID |
Object 1400h: UNSIGNED32 200h + node ID
Object 1401 to 1403h: UNSIGNED32 80000200h + the last digit of the object × 100h + Node ID
Object 1404 to 1407h: UNSIGNED32 80000000h + node ID |
rw (read-write) × ○ |
|
2 |
Transmission mode |
UNSIGNED8 255 |
rw (read-write) × ○ |
Transmission mode
PDO transmission mode can be set as in the following table.
|
Transfer code |
Transmission mode |
Remarks | ||||
|---|---|---|---|---|---|---|
|
Cyclic |
Noncyclic |
Synchronous |
Asynchronous |
RTR only |
||
|
0 |
|
× |
× |
|
|
Send PDO in the first Sync message after the event |
|
1 to 240 |
× |
|
× |
|
|
Send PDO per x pieces of Sync message |
|
241 to 251 |
Reserved |
|
- | |||
|
252 to 253 |
Reserved |
|
- | |||
|
254 |
|
|
|
× |
|
Send PDO when an event occurs |
|
255 |
|
|
|
× |
|
Send PDO when an event occurs |
In Modes 254 and 255, the event to trigger transmission is defined by the message producer.