Publicité
1600
00
03
h
h
h
1600
01
2000
01
08
h
h
h
h
1600
02
2003
03
10
h
h
h
h
1600
03
2003
01
08
h
h
h
h
Valeurs par défaut
Valid
(COB-ID bit 31)
Valid
(COB-ID bit 31)
RPDO 1 : Controlword
Idx
Sub
Name
Communication parameters
1400
h
00
Number of entries
h
01
COB-ID
h
02
Transmission type
h
03
Inhibit time
h
Version 2.0.2_FR – 31/10/2023 - SWD®
2000
00
h
h
2000
01
h
h
h
2000
02
h
h
h
2001
00
h
h
h
2002
00
h
h
2003
00
h
h
2003
01
h
h
2003
02
h
h
2003
03
h
h
Figure 20 - RPDO mapping
RPDOs
Mapping
1
Controlword
2
-
3
-
4
Controlword & vl target velocity
5
-
6
-
7
-
8
-
TPDOs
Mapping
1
Statusword
2
Statusword
3
Statusword & position value
4
Statusword & velocity actual value
5
Statusword
6
Statusword
7
Statusword
8
Statusword
Data Type
Default Value
U8
02
U32
0000 0210
U8
01
U16
00
02
h
Object A
Object B
Object C
Object D
03
h
Object E
Object F
Object G
Access
PDO
Type
Mapping
RO
NO
h
RW
NO
h
RW
NO
h
RO
NO
h
NOTICE D'INSTRUCTION
CAN transmission
RPDO 1 (CAN-ID see 1400
01
)
h
h
Data field
Object A
Object G
Object E
Lower
Upper
Unit
Limit
Limit
-
02
02
h
h
-
200
27F
h
h
-
00
0FF
h
h
-
00
00
h
h
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SWD®
Size in
Bytes
1
4
1
2
Publicité
