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:
80000200h + the last digit of the object × 100h + Node ID
Object 1404 to 1407h:
80000000h + node ID
rw (read-write)
Transmission mode
255
PDO transmission mode can be set as in the following table.
Transfer code
Remarks
Cyclic
Noncyclic
Synchronous
Asynchronous
RTR only
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
254
Send PDO when an event occurs
In Modes 254 and 255, the event to trigger transmission is defined by the message producer.