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FeatureDescription
number of input datadefault setting: 128 bytes, extended mode: maximum 1020 bytes
number of output datadefault setting: 128 bytes, extended mode: maximum 1020 bytes
number of receive PDOs

default setting: 16

configurableextended mode: 0..512, for mapping objects 2200 … 2203

number of transmit PDOs

default setting: 16

configurableextended mode: 0..512, for mapping objects 2000 … 2003

Exchange of process data
  • Via PDO transfer
    • synchronized
    • remotely requested
    • event driven (change of date)
  • Requested by application
    • via packet
Acyclic communication
  • SDO Up- and Download (Server only),
  • Emergency message (producer),
  • Timestamp (producer/consumer)
Functions
  • Node guarding / life guarding, heartbeat
  • PDO Mapping
  • NMT Slave
  • SYNC protocol (consumer)
  • Error behavior in state operational:
    • change to state pre-operational
    • no state change
    • change to state stopped
Baud rates
  • 10 kBit/s to 1 MBit/s
  • Automatic detection
Data transport layerCAN Frames
CAN Frame type
  • 11 Bit

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