CiA Draft Standard Proposal 417-3
CANopenApplication Profile for Lift Control Systems
Part 3: Pre-defined communication objects
This is a draft standard proposal and may be changed without notification.
Version 1.0.1
July 14, 2003
© CAN in Automation (CiA) e. V.
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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HISTORY
Date Changes
2003-04-09 added pre-defininitions for PDOs
2003-04-14 wording corrected
2003-04-19 final preperations
2003-07-14 final clearifications
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CONTENTS
1 SCOPE............................................................................................9
2 NORMATIVE REFERENCES.........................................................9
3 DEFINITIONS, ACRONYMS AND ABBREVIATIONS ..................9
4 PRE-DEFINED COMMUNICATION OBJECTS.............................9
4.1 Introduction............................................................................................................................9
4.2 Object 1000h: Device type ....................................................................................................9
4.3 Object 1001h: Error register..................................................................................................9
4.4 Object 1017h: Heartbeat producer time .............................................................................10
4.5 Object 1029h: Error behavior ..............................................................................................10
5 PRE-DEFINED PDO COMMUNICATION ....................................11
5.1 Introduction..........................................................................................................................11
5.2 MPDOs of the physical device ...........................................................................................11
5.2.1 Transmit MPDO............................................................................................................11
5.2.2 Receive MPDOs...........................................................................................................11
5.3 Pre-defined virtual device PDOs ........................................................................................12
5.3.1 Call controller ...............................................................................................................12
5.3.1.1 Transmit PDO lift number 1 virtual output .....................................................125.3.1.2 Transmit PDO lift number 2 virtual output .....................................................125.3.1.3 Transmit PDO lift number 3 virtual output .....................................................135.3.1.4 Transmit PDO lift number 4 virtual output .....................................................135.3.1.5 Transmit PDO lift number 5 virtual output .....................................................135.3.1.6 Transmit PDO lift number 6 virtual output .....................................................145.3.1.7 Transmit PDO lift number 7 virtual output .....................................................145.3.1.8 Transmit PDO lift number 8 virtual output .....................................................145.3.1.9 Receive PDO virtual input..............................................................................15
5.3.2 Input panel unit.............................................................................................................15
5.3.2.1 Transmit PDO virtual input.............................................................................15
5.3.3 Output panel unit..........................................................................................................15
5.3.3.1 Receive PDO lift number 1 virtual output ......................................................155.3.3.2 Receive PDO lift number 2 virtual output ......................................................165.3.3.3 Receive PDO lift number 3 virtual output ......................................................165.3.3.4 Receive PDO lift number 4 virtual output ......................................................165.3.3.5 Receive PDO lift number 5 virtual output ......................................................165.3.3.6 Receive PDO lift number 6 virtual output ......................................................175.3.3.7 Receive PDO lift number 7 virtual output ......................................................175.3.3.8 Receive PDO lift number 8 virtual output ......................................................17
5.3.4 Car door controller .......................................................................................................18
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5.3.4.1 Transmit PDO lift number 1 car door control.................................................185.3.4.2 Transmit PDO lift number 2 car door control.................................................185.3.4.3 Transmit PDO lift number 3 car door control.................................................195.3.4.4 Transmit PDO lift number 4 car door control.................................................195.3.4.5 Transmit PDO lift number 5 car door control.................................................195.3.4.6 Transmit PDO lift number 6 car door control.................................................205.3.4.7 Transmit PDO lift number 7 car door control.................................................205.3.4.8 Transmit PDO lift number 8 car door control.................................................215.3.4.9 Receive PDO lift number 1 car door 1 status and position...........................215.3.4.10 Receive PDO lift number 2 car door 1 status and position...........................215.3.4.11 Receive PDO lift number 3 car door 1 status and position...........................225.3.4.12 Receive PDO lift number 4 car door 1 status and position...........................225.3.4.13 Receive PDO lift number 5 car door 1 status and position...........................225.3.4.14 Receive PDO lift number 6 car door 1 status and position...........................235.3.4.15 Receive PDO lift number 7 car door 1 status and position...........................235.3.4.16 Receive PDO lift number 8 car door 1 status and position...........................235.3.4.17 Receive PDO lift number 1 car door 1 light barrier.......................................245.3.4.18 Receive PDO lift number 2 car door 1 light barrier.......................................245.3.4.19 Receive PDO lift number 3 car door 1 light barrier.......................................245.3.4.20 Receive PDO lift number 4 car door 1 light barrier.......................................245.3.4.21 Receive PDO lift number 5 car door 1 light barrier.......................................255.3.4.22 Receive PDO lift number 6 car door 1 light barrier.......................................255.3.4.23 Receive PDO lift number 7 car door 1 light barrier.......................................255.3.4.24 Receive PDO lift number 8 car door 1 light barrier.......................................255.3.4.25 Receive PDO lift number 1 car door 2 status and position...........................265.3.4.26 Receive PDO lift number 2 car door 2 status and position...........................265.3.4.27 Receive PDO lift number 3 car door 2 status and position...........................265.3.4.28 Receive PDO lift number 4 car door 2 status and position...........................275.3.4.29 Receive PDO lift number 5 car door 2 status and position...........................275.3.4.30 Receive PDO lift number 6 car door 2 status and position...........................275.3.4.31 Receive PDO lift number 7 car door 2 status and position...........................285.3.4.32 Receive PDO lift number 8 car door 2 status and position...........................285.3.4.33 Receive PDO lift number 1 car door 2 light barrier.......................................285.3.4.34 Receive PDO lift number 2 car door 2 light barrier.......................................295.3.4.35 Receive PDO lift number 3 car door 2 light barrier.......................................295.3.4.36 Receive PDO lift number 4 car door 2 light barrier.......................................295.3.4.37 Receive PDO lift number 5 car door 2 light barrier.......................................295.3.4.38 Receive PDO lift number 6 car door 2 light barrier.......................................305.3.4.39 Receive PDO lift number 7 car door 2 light barrier.......................................305.3.4.40 Receive PDO lift number 8 car door 2 light barrier.......................................305.3.4.41 Receive PDO lift number 1 car door 3 status and position...........................305.3.4.42 Receive PDO lift number 2 car door 3 status and position...........................315.3.4.43 Receive PDO lift number 3 car door 3 status and position...........................315.3.4.44 Receive PDO lift number 4 car door 3 status and position...........................315.3.4.45 Receive PDO lift number 5 car door 3 status and position...........................325.3.4.46 Receive PDO lift number 6 car door 3 status and position...........................325.3.4.47 Receive PDO lift number 7 car door 3 status and position...........................325.3.4.48 Receive PDO lift number 8 car door 3 status and position...........................335.3.4.49 Receive PDO lift number 1 car door 3 light barrier.......................................335.3.4.50 Receive PDO lift number 2 car door 3 light barrier.......................................335.3.4.51 Receive PDO lift number 3 car door 3 light barrier.......................................345.3.4.52 Receive PDO lift number 4 car door 3 light barrier.......................................345.3.4.53 Receive PDO lift number 5 car door 3 light barrier.......................................345.3.4.54 Receive PDO lift number 6 car door 3 light barrier.......................................345.3.4.55 Receive PDO lift number 7 car door 3 light barrier.......................................355.3.4.56 Receive PDO lift number 8 car door 3 light barrier.......................................35
5.3.5 Car door unit.................................................................................................................35
5.3.5.1 Transmit PDO lift number 1 car door 1 status and position..........................355.3.5.2 Transmit PDO lift number 2 car door 1 status and position..........................365.3.5.3 Transmit PDO lift number 3 car door 1 status and position..........................365.3.5.4 Transmit PDO lift number 4 car door 1 status and position..........................375.3.5.5 Transmit PDO lift number 5 car door 1 status and position..........................37
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5.3.5.6 Transmit PDO lift number 6 car door 1 status and position..........................385.3.5.7 Transmit PDO lift number 7 car door 1 status and position..........................385.3.5.8 Transmit PDO lift number 8 car door 1 status and position..........................395.3.5.9 Transmit PDO lift number 1 car door 2 status and position..........................395.3.5.10 Transmit PDO lift number 2 car door 2 status and position..........................405.3.5.11 Transmit PDO lift number 3 car door 2 status and position..........................405.3.5.12 Transmit PDO lift number 4 car door 2 status and position..........................415.3.5.13 Transmit PDO lift number 5 car door 2 status and position..........................415.3.5.14 Transmit PDO lift number 6 car door 2 status and position..........................425.3.5.15 Transmit PDO lift number 7 car door 2 status and position..........................425.3.5.16 Transmit PDO lift number 8 car door 2 status and position..........................435.3.5.17 Transmit PDO lift number 1 car door 3 status and position..........................435.3.5.18 Transmit PDO lift number 2 car door 3 status and position..........................445.3.5.19 Transmit PDO lift number 3 car door 3 status and position..........................445.3.5.20 Transmit PDO lift number 4 car door 3 status and position..........................455.3.5.21 Transmit PDO lift number 5 car door 3 status and position..........................455.3.5.22 Transmit PDO lift number 6 car door 3 status and position..........................465.3.5.23 Transmit PDO lift number 7 car door 3 status and position..........................465.3.5.24 Transmit PDO lift number 8 car door 3 status and position..........................475.3.5.25 Receive PDO lift number 1 car door control..................................................475.3.5.26 Receive PDO lift number 2 car door control..................................................475.3.5.27 Receive PDO lift number 3 car door control..................................................485.3.5.28 Receive PDO lift number 4 car door control..................................................485.3.5.29 Receive PDO lift number 5 car door control..................................................485.3.5.30 Receive PDO lift number 6 car door control..................................................495.3.5.31 Receive PDO lift number 7 car door control..................................................495.3.5.32 Receive PDO lift number 8 car door control..................................................495.3.5.33 Receive PDO lift number 1 light barrier 1......................................................505.3.5.34 Receive PDO lift number 2 light barrier 1......................................................505.3.5.35 Receive PDO lift number 3 light barrier 1......................................................505.3.5.36 Receive PDO lift number 4 light barrier 1......................................................515.3.5.37 Receive PDO lift number 5 light barrier 1......................................................515.3.5.38 Receive PDO lift number 6 light barrier 1......................................................515.3.5.39 Receive PDO lift number 7 light barrier 1......................................................525.3.5.40 Receive PDO lift number 8 light barrier 1......................................................525.3.5.41 Receive PDO lift number 1 light barrier 2......................................................525.3.5.42 Receive PDO lift number 2 light barrier 2......................................................535.3.5.43 Receive PDO lift number 3 light barrier 2......................................................535.3.5.44 Receive PDO lift number 4 light barrier 2......................................................535.3.5.45 Receive PDO lift number 5 light barrier 2......................................................545.3.5.46 Receive PDO lift number 6 light barrier 2......................................................545.3.5.47 Receive PDO lift number 7 light barrier 2......................................................545.3.5.48 Receive PDO lift number 8 light barrier 2......................................................555.3.5.49 Receive PDO lift number 1 light barrier 3......................................................555.3.5.50 Receive PDO lift number 2 light barrier 3......................................................555.3.5.51 Receive PDO lift number 3 light barrier 3......................................................565.3.5.52 Receive PDO lift number 4 light barrier 3......................................................565.3.5.53 Receive PDO lift number 5 light barrier 3......................................................565.3.5.54 Receive PDO lift number 6 light barrier 3......................................................575.3.5.55 Receive PDO lift number 7 light barrier 3......................................................575.3.5.56 Receive PDO lift number 8 light barrier 3......................................................57
5.3.6 Light barrier unit ...........................................................................................................58
5.3.6.1 Transmit PDO lift number 1 light barrier 1.....................................................585.3.6.2 Transmit PDO lift number 2 light barrier 1.....................................................585.3.6.3 Transmit PDO lift number 3 light barrier 1.....................................................585.3.6.4 Transmit PDO lift number 4 light barrier 1.....................................................595.3.6.5 Transmit PDO lift number 5 light barrier 1.....................................................595.3.6.6 Transmit PDO lift number 6 light barrier 1.....................................................595.3.6.7 Transmit PDO lift number 7 light barrier 1.....................................................605.3.6.8 Transmit PDO lift number 8 light barrier 1.....................................................605.3.6.9 Transmit PDO lift number 1 light barrier 2.....................................................605.3.6.10 Transmit PDO lift number 2 light barrier 2.....................................................61
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5.3.6.11 Transmit PDO lift number 3 light barrier 2.....................................................615.3.6.12 Transmit PDO lift number 4 light barrier 2.....................................................615.3.6.13 Transmit PDO lift number 5 light barrier 2.....................................................625.3.6.14 Transmit PDO lift number 6 light barrier 2.....................................................625.3.6.15 Transmit PDO lift number 7 light barrier 2.....................................................625.3.6.16 Transmit PDO lift number 8 light barrier 2.....................................................635.3.6.17 Transmit PDO lift number 1 light barrier 3.....................................................635.3.6.18 Transmit PDO lift number 2 light barrier 3.....................................................635.3.6.19 Transmit PDO lift number 3 light barrier 3.....................................................645.3.6.20 Transmit PDO lift number 4 light barrier 3.....................................................645.3.6.21 Transmit PDO lift number 5 light barrier 3.....................................................645.3.6.22 Transmit PDO lift number 6 light barrier 3.....................................................655.3.6.23 Transmit PDO lift number 7 light barrier 3.....................................................655.3.6.24 Transmit PDO lift number 8 light barrier 3.....................................................65
5.3.7 Position unit ..................................................................................................................66
5.3.7.1 Transmit PDO lift number 1 car position 1 ....................................................665.3.7.2 Transmit PDO lift number 2 car position 1 ....................................................665.3.7.3 Transmit PDO lift number 3 car position 1 ....................................................675.3.7.4 Transmit PDO lift number 4 car position 1 ....................................................675.3.7.5 Transmit PDO lift number 5 car position 1 ....................................................675.3.7.6 Transmit PDO lift number 6 car position 1 ....................................................685.3.7.7 Transmit PDO lift number 7 car position 1 ....................................................685.3.7.8 Transmit PDO lift number 8 car position 1 ....................................................685.3.7.9 Transmit PDO lift number 1 car position 2 ....................................................695.3.7.10 Transmit PDO lift number 2 car position 2 ....................................................695.3.7.11 Transmit PDO lift number 3 car position 2 ....................................................695.3.7.12 Transmit PDO lift number 4 car position 2 ....................................................705.3.7.13 Transmit PDO lift number 5 car position 2 ....................................................705.3.7.14 Transmit PDO lift number 6 car position 2 ....................................................705.3.7.15 Transmit PDO lift number 7 car position 2 ....................................................715.3.7.16 Transmit PDO lift number 8 car position 2 ....................................................71
5.3.8 Car drive controller.......................................................................................................71
5.3.8.1 Transmit PDO lift number 1 car drive control – profile postion mode ..........715.3.8.2 Transmit PDO lift number 2 car drive control – profile postion mode ..........725.3.8.3 Transmit PDO lift number 3 car drive control – profile postion mode ..........725.3.8.4 Transmit PDO lift number 4 car drive control – profile postion mode ..........735.3.8.5 Transmit PDO lift number 5 car drive control – profile postion mode ..........735.3.8.6 Transmit PDO lift number 6 car drive control – profile postion mode ..........735.3.8.7 Transmit PDO lift number 7 car drive control – profile postion mode ..........745.3.8.8 Transmit PDO lift number 8 car drive control – profile postion mode ..........745.3.8.9 Transmit PDO lift number 1 car drive control – profile velocity mode..........755.3.8.10 Transmit PDO lift number 2 car drive control – profile velocity mode..........755.3.8.11 Transmit PDO lift number 3 car drive control – profile velocity mode..........755.3.8.12 Transmit PDO lift number 4 car drive control – profile velocity mode..........765.3.8.13 Transmit PDO lift number 5 car drive control – profile velocity mode..........765.3.8.14 Transmit PDO lift number 6 car drive control – profile velocity mode..........775.3.8.15 Transmit PDO lift number 7 car drive control – profile velocity mode..........775.3.8.16 Transmit PDO lift number 8 car drive control – profile velocity mode..........775.3.8.17 Receive PDO lift number 1 car drive status – profile position mode............785.3.8.18 Receive PDO lift number 2 car drive status – profile position mode............785.3.8.19 Receive PDO lift number 3 car drive status – profile position mode............785.3.8.20 Receive PDO lift number 4 car drive status – profile position mode............795.3.8.21 Receive PDO lift number 5 car drive status – profile position mode............795.3.8.22 Receive PDO lift number 6 car drive status – profile position mode............795.3.8.23 Receive PDO lift number 7 car drive status – profile position mode............805.3.8.24 Receive PDO lift number 8 car drive status – profile position mode............805.3.8.25 Receive PDO lift number 1 car drive status – profile velocity mode............805.3.8.26 Receive PDO lift number 2 car drive status – profile velocity mode............815.3.8.27 Receive PDO lift number 3 car drive status – profile velocity mode............815.3.8.28 Receive PDO lift number 4 car drive status – profile velocity mode............815.3.8.29 Receive PDO lift number 5 car drive status – profile velocity mode............82
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5.3.8.30 Receive PDO lift number 6 car drive status – profile velocity mode............825.3.8.31 Receive PDO lift number 7 car drive status – profile velocity mode............825.3.8.32 Receive PDO lift number 8 car drive status – profile velocity mode............835.3.8.33 Receive PDO lift number 1 load measuring..................................................835.3.8.34 Receive PDO lift number 2 load measuring..................................................835.3.8.35 Receive PDO lift number 3 load measuring..................................................835.3.8.36 Receive PDO lift number 4 load measuring..................................................845.3.8.37 Receive PDO lift number 5 load measuring..................................................845.3.8.38 Receive PDO lift number 6 load measuring..................................................845.3.8.39 Receive PDO lift number 7 load measuring..................................................845.3.8.40 Receive PDO lift number 8 load measuring..................................................855.3.8.41 Receive PDO lift number 1 car position ........................................................855.3.8.42 Receive PDO lift number 2 car position ........................................................855.3.8.43 Receive PDO lift number 3 car position ........................................................855.3.8.44 Receive PDO lift number 4 car position ........................................................865.3.8.45 Receive PDO lift number 5 car position ........................................................865.3.8.46 Receive PDO lift number 6 car position ........................................................865.3.8.47 Receive PDO lift number 7 car position ........................................................865.3.8.48 Receive PDO lift number 8 car position ........................................................875.3.8.49 Receive PDO lift number 1 car door 1 status and position...........................875.3.8.50 Receive PDO lift number 2 car door 1 status and position...........................875.3.8.51 Receive PDO lift number 3 car door 1 status and position...........................885.3.8.52 Receive PDO lift number 4 car door 1 status and position...........................885.3.8.53 Receive PDO lift number 5 car door 1 status and position...........................885.3.8.54 Receive PDO lift number 6 car door 1 status and position...........................895.3.8.55 Receive PDO lift number 7 car door 1 status and position...........................895.3.8.56 Receive PDO lift number 8 car door 1 status and position...........................895.3.8.57 Receive PDO lift number 1 car door 2 status and position...........................905.3.8.58 Receive PDO lift number 2 car door 2 status and position...........................905.3.8.59 Receive PDO lift number 3 car door 2 status and position...........................905.3.8.60 Receive PDO lift number 4 car door 2 status and position...........................915.3.8.61 Receive PDO lift number 5 car door 2 status and position...........................915.3.8.62 Receive PDO lift number 6 car door 2 status and position...........................915.3.8.63 Receive PDO lift number 7 car door 2 status and position...........................925.3.8.64 Receive PDO lift number 8 car door 2 status and position...........................925.3.8.65 Receive PDO lift number 1 car door 3 status and position...........................925.3.8.66 Receive PDO lift number 2 car door 3 status and position...........................935.3.8.67 Receive PDO lift number 3 car door 3 status and position...........................935.3.8.68 Receive PDO lift number 4 car door 3 status and position...........................935.3.8.69 Receive PDO lift number 5 car door 3 status and position...........................945.3.8.70 Receive PDO lift number 6 car door 3 status and position...........................945.3.8.71 Receive PDO lift number 7 car door 3 status and position...........................945.3.8.72 Receive PDO lift number 8 car door 3 status and position...........................95
5.3.9 Car drive unit ................................................................................................................95
5.3.9.1 Transmit PDO lift number 1 car drive status – profile position mode...........955.3.9.2 Transmit PDO lift number 2 car drive status – profile position mode...........955.3.9.3 Transmit PDO lift number 3 car drive status – profile position mode...........965.3.9.4 Transmit PDO lift number 4 car drive status – profile position mode...........965.3.9.5 Transmit PDO lift number 5 car drive status – profile position mode...........975.3.9.6 Transmit PDO lift number 6 car drive status – profile position mode...........975.3.9.7 Transmit PDO lift number 7 car drive status – profile position mode...........975.3.9.8 Transmit PDO lift number 8 car drive status – profile position mode...........985.3.9.9 Transmit PDO lift number 1 car drive status – profile velocity mode...........985.3.9.10 Transmit PDO lift number 2 car drive status – profile velocity mode...........995.3.9.11 Transmit PDO lift number 3 car drive status – profile velocity mode...........995.3.9.12 Transmit PDO lift number 4 car drive status – profile velocity mode...........995.3.9.13 Transmit PDO lift number 5 car drive status – profile velocity mode.........1005.3.9.14 Transmit PDO lift number 6 car drive status – profile velocity mode.........1005.3.9.15 Transmit PDO lift number 7 car drive status – profile velocity mode.........1015.3.9.16 Transmit PDO lift number 8 car drive status – profile velocity mode.........1015.3.9.17 Receive PDO lift number 1 car drive control – profile position mode ........1015.3.9.18 Receive PDO lift number 2 car drive control – profile position mode ........102
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5.3.9.19 Receive PDO lift number 3 car drive control – profile position mode ........1025.3.9.20 Receive PDO lift number 4 car drive control – profile position mode ........1025.3.9.21 Receive PDO lift number 5 car drive control – profile position mode ........1035.3.9.22 Receive PDO lift number 6 car drive control – profile position mode ........1035.3.9.23 Receive PDO lift number 7 car drive control – profile position mode ........1035.3.9.24 Receive PDO lift number 8 car drive control – profile position mode ........1045.3.9.25 Receive PDO lift number 1 car drive control – profile velocity mode.........1045.3.9.26 Receive PDO lift number 2 car drive control – profile velocity mode.........1045.3.9.27 Receive PDO lift number 3 car drive control – profile velocity mode.........1055.3.9.28 Receive PDO lift number 4 car drive control – profile velocity mode.........1055.3.9.29 Receive PDO lift number 5 car drive control – profile velocity mode.........1055.3.9.30 Receive PDO lift number 6 car drive control – profile velocity mode.........1065.3.9.31 Receive PDO lift number 7 car drive control – profile velocity mode.........1065.3.9.32 Receive PDO lift number 8 car drive control – profile velocity mode.........1065.3.9.33 Receive PDO lift number 1 load measuring................................................1065.3.9.34 Receive PDO lift number 2 load measuring................................................1075.3.9.35 Receive PDO lift number 3 load measuring................................................1075.3.9.36 Receive PDO lift number 4 load measuring................................................1075.3.9.37 Receive PDO lift number 5 load measuring................................................1075.3.9.38 Receive PDO lift number 6 load measuring................................................1085.3.9.39 Receive PDO lift number 7 load measuring................................................1085.3.9.40 Receive PDO lift number 8 load measuring................................................1085.3.9.41 Receive PDO lift number 1 car position ......................................................1085.3.9.42 Receive PDO lift number 2 car position ......................................................1095.3.9.43 Receive PDO lift number 3 car position ......................................................1095.3.9.44 Receive PDO lift number 4 car position ......................................................1095.3.9.45 Receive PDO lift number 5 car position ......................................................1095.3.9.46 Receive PDO lift number 6 car position ......................................................1105.3.9.47 Receive PDO lift number 7 car position ......................................................1105.3.9.48 Receive PDO lift number 8 car position ......................................................110
5.3.10 Load measuring unit ..................................................................................................111
5.3.10.1 Transmit PDO lift number 1 load measuring...............................................1115.3.10.2 Transmit PDO lift number 2 load measuring...............................................1115.3.10.3 Transmit PDO lift number 3 load measuring...............................................1115.3.10.4 Transmit PDO lift number 4 load measuring...............................................1125.3.10.5 Transmit PDO lift number 5 load measuring...............................................1125.3.10.6 Transmit PDO lift number 6 load measuring...............................................1125.3.10.7 Transmit PDO lift number 7 load measuring...............................................1135.3.10.8 Transmit PDO lift number 8 load measuring...............................................113
5.3.11 Sensor unit .................................................................................................................113
5.3.11.1 Transmit PDO sensor input..........................................................................113
ANNEX A: SHORT OVERVIEW OF ASSIGNMENT.........................114
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1 Scope
This part of the application profile specifies different pre-definitions for communication objects, inparticular the communication and mapping behavior of the PDOs.
2 Normative references
The normative references given in part 1 one shall apply also for part 3.
3 Definitions, acronyms and abbreviations
The definitions, acronyms and abbreviations given in part 1 shall also apply for part 3.
4 Pre-defined communication objects
4.1 Introduction
Physical devices compliant with this device profile shall come with default values for somecommunication objects (1000h to 1FFFh), which are not specified in all details in /CiA301/.
4.2 Object 1000h: Device type
The object at index 1000h describes the type of device and its functionality.
Value definition
31 24 23 16 15 0
Virtual device code reserved(00h)
Number of device profile: 417d
MSB LSB
If the device implements only one virtual device, the additional information contains the virtual devicecode 8 bit), and the supported default communication model (8 bit). If the device codes is ‘0’, thephysical device is supporting more than only one virtual device. In this case, the object 6000h containsthe codes of the all supported virtual devices.
Codes of virtual device:
Code Function00h Multiple virtual device01h Call controller
02h Input panel unit03h Output panel unit04h Car door controller
05h Car door unit06h Car position unit07h Light barrier unit08h Car drive controller
09h Car drive unit0Ah Load measuring unit0Bh Sensor unit
0Ch reserved::::: :::::FFh reserved
4.3 Object 1001h: Error register
The device profile specific bit in the error register is reserved for future use.
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4.4 Object 1017h: Heartbeat producer time
The heartbeat producer time shall be set to > 0 by default.
4.5 Object 1029h: Error behavior
This object specifies to which state the physical device shall be set, when a communication error or adevice internal error is detected. Besides the specification given in /CiA301/ the following sub-indexesmay be implemented optionally. If the object is not implemented the device shall behave as the defaultvalues define.
Value definition
0 = pre-operational (only if current state is operational)
1 = no state change
2 = stopped
Entry description
Sub-Index 02h
Description Internal device error
Access rw
Entry Category Optional
PDO Mapping No
Value Range 0h to 2h
Default Value 0h
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5 Pre-defined PDO communication
5.1 Introduction
Each physical device compliant to this application profile provides one MPDO in Destination AddressMode (DAM) to be transmitted in broadcast (addr = 0) and up to 127 MPDOs in DAM mode to bereceived. Depending on the multiplexor (corresponding to index and sub-index) the MPDO consumerentries the received data into its object dictionary or it ignores the received MPDO. The MPDOproducer shall transmit all application objects of the physical device, which features a PDO mappingattribute of the value default. In addition, the MPDO may be used to transmit application featuring PDPmapping attributes with the value possible.
Some virtual devices additionally support PDOs with pre-defined mappings and pre-defined COB-IDs.Other virtual devices support PDOs with pre-defined mappings and COB-IDs derived from theassigned node-ID.
Object dictionary entry indexes of PDO communication parameter and PDO mapping parameter givenin this part of the application profile are mandatory. This may exclude some combinations of virtualdevices in one physical device.
The system designer may use other object dictionary entry indexes of PDO communication andmapping parameters. Note: In this case, the system designer is responsible for consistency of PDOparameters.
5.2 MPDOs of the physical device
5.2.1 Transmit MPDO
Depending on the implemented virtual devices, the physical device may transmit the MPDO wheneverone of the application object changes its value except the application object is mapped to a TPDO.
Transmit MPDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 500h + Node-ID
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1801h
05h Event timer 0
Transmit MPDO mapping parameter
Index Sub-Index Comment Default Value
1A01h 00h Number of mapped objects 255d
5.2.2 Receive MPDOs
Each physical may support up to 127 MPDO to be received. Depending on the implemented virtualdevices and the application objects, the received data will be enter in the object dictionarycorresponding to the multiplexor (index and sub-index).
Note: The MPDO consumer parameters corresponding to the physical device’s transmitted MPDOmay not be supported.
Receive MPDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 501h to 57Fh
1401h
to147Fh 02h Transmission type 255d
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Receive MPDO mapping parameter
Index Sub-Index Comment Default Value
1601h
to167Fh
00h Number of mapped objects 255d
5.3 Pre-defined virtual device PDOs
5.3.1 Call controller
5.3.1.1 Transmit PDO lift number 1 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 400h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1900h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B00h
01h Virtual output mapping 6011 00 30h
5.3.1.2 Transmit PDO lift number 2 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 401h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1910h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B10h
01h Virtual output mapping 6011 00 30h
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5.3.1.3 Transmit PDO lift number 3 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 402h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1920h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B20h
01h Virtual output mapping 6011 00 30h
5.3.1.4 Transmit PDO lift number 4 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 403h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1930h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B30h
01h Virtual output mapping 6011 00 30h
5.3.1.5 Transmit PDO lift number 5 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 404h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1940h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B40h
01h Virtual output mapping 6011 00 30h
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5.3.1.6 Transmit PDO lift number 6 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 405h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1950h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B50h
01h Virtual output mapping 6011 00 30h
5.3.1.7 Transmit PDO lift number 7 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 406h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1960h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B60h
01h Virtual output mapping 6011 00 30h
5.3.1.8 Transmit PDO lift number 8 virtual output
This TPDO shall be transmitted whenever the call controller likes to set an output in any of the genericoutput devices or likes to acknowledge an outstanding call request to the input panel.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 407h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1970h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B70h
01h Virtual output mapping 6011 00 30h
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5.3.1.9 Receive PDO virtual input
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge object depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 481h to 4FFh
1481h
to14FFh 02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11681h
to16FFh
01h Virtual input mapping 6010 00 30h
5.3.2 Input panel unit
5.3.2.1 Transmit PDO virtual input
This TPDO shall be transmitted whenever the input panel have to request a call, e.g. issued by anuser action.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 480h + Node-ID
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1881h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11A81h
01h Virtual input mapping 6010 00 30h
5.3.3 Output panel unit
5.3.3.1 Receive PDO lift number 1 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 400h
1500h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11700h
01h Virtual output mapping 6011 00 30h
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5.3.3.2 Receive PDO lift number 2 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 401h
1510h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11710h
01h Virtual output mapping 6011 00 30h
5.3.3.3 Receive PDO lift number 3 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 402h
1520h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11720h
01h Virtual output mapping 6011 00 30h
5.3.3.4 Receive PDO lift number 4 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 403h
1530h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11730h
01h Virtual output mapping 6011 00 30h
5.3.3.5 Receive PDO lift number 5 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 404h
1540h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11740h
01h Virtual output mapping 6011 00 30h
5.3.3.6 Receive PDO lift number 6 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 405h
1550h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11750h
01h Virtual output mapping 6011 00 30h
5.3.3.7 Receive PDO lift number 7 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 406h
1560h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11760h
01h Virtual output mapping 6011 00 30h
5.3.3.8 Receive PDO lift number 8 virtual output
This RPDO contains function data, which shall be stored in one of the sub-objects of the callacknowledge objects or output display objects depending on the function.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 407h
1570h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11770h
01h Virtual output mapping 6011 00 30h
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5.3.4 Car door controller
5.3.4.1 Transmit PDO lift number 1 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 200h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1908h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 6300 01 10h
02h Door 2 controlword 6300 02 10h
03h Door 3 controlword 6300 03 10h
1B08h
04h Door 4 controlword 6300 04 10h
5.3.4.2 Transmit PDO lift number 2 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 210h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1918h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 6B00 01 10h
02h Door 2 controlword 6B00 02 10h
03h Door 3 controlword 6B00 03 10h
1B18h
04h Door 4 controlword 6B00 04 10h
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5.3.4.3 Transmit PDO lift number 3 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 220h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1928h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 7300 01 10h
02h Door 2 controlword 7300 02 10h
03h Door 3 controlword 7300 03 10h
1B28h
04h Door 4 controlword 7300 04 10h
5.3.4.4 Transmit PDO lift number 4 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 230h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1938h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 7B00 01 10h
02h Door 2 controlword 7B00 02 10h
03h Door 3 controlword 7B00 03 10h
1B38h
04h Door 4 controlword 7B00 04 10h
5.3.4.5 Transmit PDO lift number 5 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 240h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1948h
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 8300 01 10h
02h Door 2 controlword 8300 02 10h
03h Door 3 controlword 8300 03 10h
1B48h
04h Door 4 controlword 8300 04 10h
5.3.4.6 Transmit PDO lift number 6 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 250h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1958h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 8B00 01 10h
02h Door 2 controlword 8B00 02 10h
03h Door 3 controlword 8B00 03 10h
1B58h
04h Door 4 controlword 8B00 04 10h
5.3.4.7 Transmit PDO lift number 7 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 260h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1968h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 9300 01 10h
02h Door 2 controlword 9300 02 10h
03h Door 3 controlword 9300 03 10h
1B68h
04h Door 4 controlword 9300 04 10h
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5.3.4.8 Transmit PDO lift number 8 car door control
This TPDO shall be transmitted whenever the car door controller receives the request to move thedoor (open or close).
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 270h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1978h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 9B00 01 10h
02h Door 2 controlword 9B00 02 10h
03h Door 3 controlword 9B00 03 10h
1B78h
04h Door 4 controlword 9B00 04 10h
5.3.4.9 Receive PDO lift number 1 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 201h
150Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6301 01 10h
170Ah
02h Door 1 position 6302 01 10h
5.3.4.10 Receive PDO lift number 2 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 211h
151Ah
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6B01 01 10h
171Ah
02h Door 1 position 6B02 01 10h
5.3.4.11 Receive PDO lift number 3 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 221h
152Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7301 01 10h
172Ah
02h Door 1 position 7302 01 10h
5.3.4.12 Receive PDO lift number 4 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 231h
153Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7B01 01 10h
173Ah
02h Door 1 position 7B02 01 10h
5.3.4.13 Receive PDO lift number 5 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 241h
154Ah
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8301 01 10h
174Ah
02h Door 1 position 8302 01 10h
5.3.4.14 Receive PDO lift number 6 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 251h
155Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8B01 01 10h
175Ah
02h Door 1 position 8B02 01 10h
5.3.4.15 Receive PDO lift number 7 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 261h
156Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9301 01 10h
176Ah
02h Door 1 position 9302 01 10h
5.3.4.16 Receive PDO lift number 8 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 201h
157Ah
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9B01 01 10h
177Ah
02h Door 1 position 9B02 01 10h
5.3.4.17 Receive PDO lift number 1 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 205h
150Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Bh
01h Door 1 light barrier status 6310 01 08h
5.3.4.18 Receive PDO lift number 2 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 215h
151Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Bh
01h Door 1 light barrier status 6B10 01 08h
5.3.4.19 Receive PDO lift number 3 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 225h
152Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Bh
01h Door 1 light barrier status 7310 01 08h
5.3.4.20 Receive PDO lift number 4 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 235h
153Bh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Bh
01h Door 1 light barrier status 7B10 01 08h
5.3.4.21 Receive PDO lift number 5 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 245h
154Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Bh
01h Door 1 light barrier status 8310 01 08h
5.3.4.22 Receive PDO lift number 6 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 255h
155Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Bh
01h Door 1 light barrier status 8B10 01 08h
5.3.4.23 Receive PDO lift number 7 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 265h
156Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Bh
01h Door 1 light barrier status 9310 01 08h
5.3.4.24 Receive PDO lift number 8 car door 1 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 275h
157Bh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Bh
01h Door 1 light barrier status 9B10 01 08h
5.3.4.25 Receive PDO lift number 1 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 202h
150Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6301 02 10h
170Ch
02h Door 2 position 6302 02 10h
5.3.4.26 Receive PDO lift number 2 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 212h
151Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6B01 02 10h
171Ch
02h Door 2 position 6B02 02 10h
5.3.4.27 Receive PDO lift number 3 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 222h
152Ch
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 7301 02 10h
172Ch
02h Door 2 position 7302 02 10h
5.3.4.28 Receive PDO lift number 4 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 231h
153Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7B01 01 10h
173Ah
02h Door 1 position 7B02 01 10h
5.3.4.29 Receive PDO lift number 5 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 242h
154Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8301 02 10h
174Ch
02h Door 2 position 8302 02 10h
5.3.4.30 Receive PDO lift number 6 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 252h
155Ch
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8B01 02 10h
175Ch
02h Door 2 position 8B02 02 10h
5.3.4.31 Receive PDO lift number 7 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 262h
156Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9301 02 10h
176Ch
02h Door 2 position 9302 02 10h
5.3.4.32 Receive PDO lift number 8 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 202h
157Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9B01 01 10h
177Ch
02h Door 2 position 9B02 01 10h
5.3.4.33 Receive PDO lift number 1 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 206h
150Dh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Dh
01h Door 2 light barrier status 6310 02 08h
5.3.4.34 Receive PDO lift number 2 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 216h
151Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Dh
01h Door 2 light barrier status 6B10 021 08h
5.3.4.35 Receive PDO lift number 3 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 226h
152Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Dh
01h Door 2 light barrier status 7310 02 08h
5.3.4.36 Receive PDO lift number 4 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 236h
153Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Dh
01h Door 2 light barrier status 7B10 02 08h
5.3.4.37 Receive PDO lift number 5 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 246h
154Dh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Dh
01h Door 2 light barrier status 8310 02 08h
5.3.4.38 Receive PDO lift number 6 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 256h
155Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Dh
01h Door 2 light barrier status 8B10 02 08h
5.3.4.39 Receive PDO lift number 7 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 266h
156Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Dh
01h Door 2 light barrier status 9310 02 08h
5.3.4.40 Receive PDO lift number 8 car door 2 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 276h
157Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Dh
01h Door 2 light barrier status 9B10 02 08h
5.3.4.41 Receive PDO lift number 1 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 203h
150Eh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6301 03 10h
170Eh
02h Door 3 position 6302 03 10h
5.3.4.42 Receive PDO lift number 2 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 213h
151Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6B01 03 10h
171Eh
02h Door 3 position 6B02 03 10h
5.3.4.43 Receive PDO lift number 3 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 223h
152Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7301 03 10h
172Eh
02h Door 3 position 7302 03 10h
5.3.4.44 Receive PDO lift number 4 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 233h
153Eh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7B01 03 10h
173Eh
02h Door 3 position 7B02 03 10h
5.3.4.45 Receive PDO lift number 5 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 243h
154Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8301 03 10h
174Eh
02h Door 3 position 8302 03 10h
5.3.4.46 Receive PDO lift number 6 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 253h
155Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8B01 03 10h
175Eh
02h Door 3 position 8B02 03 10h
5.3.4.47 Receive PDO lift number 7 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 263h
156Eh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9301 03 10h
176Eh
02h Door 3 position 9302 03 10h
5.3.4.48 Receive PDO lift number 8 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 203h
157Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9B01 03 10h
177Eh
02h Door 3 position 9B02 03 10h
5.3.4.49 Receive PDO lift number 1 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 207h
150Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Fh
01h Door 3 light barrier status 6310 03 08h
5.3.4.50 Receive PDO lift number 2 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 215h
151Fh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Fh
01h Door 3 light barrier status 6B10 03 08h
5.3.4.51 Receive PDO lift number 3 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 227h
152Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Fh
01h Door 3 light barrier status 7310 03 08h
5.3.4.52 Receive PDO lift number 4 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 237h
153Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Fh
01h Door 3 light barrier status 7B10 03 08h
5.3.4.53 Receive PDO lift number 5 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 247h
154Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Fh
01h Door 3 light barrier status 8310 03 08h
5.3.4.54 Receive PDO lift number 6 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 257h
155Fh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Fh
01h Door 3 light barrier status 8B10 03 08h
5.3.4.55 Receive PDO lift number 7 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 267h
156Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Fh
01h Door 3 light barrier status 9310 03 08h
5.3.4.56 Receive PDO lift number 8 car door 3 light barrier
This RPDO contains information of the current state of the light barrier unit of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 277h
157Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Fh
01h Door 3 light barrier status 9B10 03 08h
5.3.5 Car door unit
5.3.5.1 Transmit PDO lift number 1 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 201h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Ah
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6301 01 10h
1B0Ah
02h Door 1 position 6302 01 10h
5.3.5.2 Transmit PDO lift number 2 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 211h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Ah
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6B01 01 10h
1B1Ah
02h Door 1 position 6B02 01 10h
5.3.5.3 Transmit PDO lift number 3 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 221h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Ah
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7301 01 10h
1B2Ah
02h Door 1 position 7302 01 10h
5.3.5.4 Transmit PDO lift number 4 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 231h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Ah
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7B01 01 10h
1B3Ah
02h Door 1 position 7B02 01 10h
5.3.5.5 Transmit PDO lift number 5 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 241h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Ah
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8301 01 10h
1B4Ah
02h Door 1 position 8302 01 10h
5.3.5.6 Transmit PDO lift number 6 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 251h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Ah
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8B01 01 10h
1B5Ah
02h Door 1 position 8B02 01 10h
5.3.5.7 Transmit PDO lift number 7 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 261h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Ah
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9301 01 10h
1B6Ah
02h Door 1 position 9302 01 10h
5.3.5.8 Transmit PDO lift number 8 car door 1 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 271h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Ah
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9B01 01 10h
1B7Ah
02h Door 1 position 9B02 01 10h
5.3.5.9 Transmit PDO lift number 1 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 202h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Ch
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6301 02 10h
1B0Ch
02h Door 2 position 6302 02 10h
5.3.5.10 Transmit PDO lift number 2 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 212h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Ch
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6B01 02 10h
1B1Ch
02h Door 2 position 6B02 02 10h
5.3.5.11 Transmit PDO lift number 3 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 222h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Ch
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 7301 02 10h
1B2Ch
02h Door 2 position 7302 02 10h
5.3.5.12 Transmit PDO lift number 4 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 232h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Ch
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 7B01 02 10h
1B3Ch
02h Door 2 position 7B02 02 10h
5.3.5.13 Transmit PDO lift number 5 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 242h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Ch
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8301 02 10h
1B4Ch
02h Door 2 position 8302 02 10h
5.3.5.14 Transmit PDO lift number 6 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 252h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Ch
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8B01 02 10h
1B5Ch
02h Door 2 position 8B02 02 10h
5.3.5.15 Transmit PDO lift number 7 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 262h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Ch
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9301 02 10h
1B6Ch
02h Door 2 position 9302 02 10h
5.3.5.16 Transmit PDO lift number 8 car door 2 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 272h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Ch
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9B01 02 10h
1B7Ch
02h Door 2 position 9B02 02 10h
5.3.5.17 Transmit PDO lift number 1 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 203h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Eh
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6301 03 10h
1B0Eh
02h Door 3 position 6302 03 10h
5.3.5.18 Transmit PDO lift number 2 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 213h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Eh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6B01 03 10h
1B1Eh
02h Door 3 position 6B02 03 10h
5.3.5.19 Transmit PDO lift number 3 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 223h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Eh
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7301 03 10h
1B2Eh
02h Door 3 position 7302 03 10h
5.3.5.20 Transmit PDO lift number 4 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 233h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Eh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7B01 03 10h
1B3Eh
02h Door 3 position 7B02 03 10h
5.3.5.21 Transmit PDO lift number 5 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 243h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Eh
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8301 03 10h
1B4Eh
02h Door 3 position 8302 03 10h
5.3.5.22 Transmit PDO lift number 6 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 253h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Eh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8B01 03 10h
1B5Eh
02h Door 3 position 8B02 03 10h
5.3.5.23 Transmit PDO lift number 7 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 263h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Eh
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9301 03 10h
1B6Eh
02h Door 3 position 9302 03 10h
5.3.5.24 Transmit PDO lift number 8 car door 3 status and position
This TPDO shall be transmitted whenever the status of the car door unit or the position of theaccording car door changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 273h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Eh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9B01 03 10h
1B7Eh
02h Door 3 position 9B02 03 10h
5.3.5.25 Receive PDO lift number 1 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 200h
1508h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 6300 01 10h
02h Door 2 controlword 6300 02 10h
03h Door 3 controlword 6300 03 10h
1708h
04h Door 4 controlword 6300 04 10h
5.3.5.26 Receive PDO lift number 2 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 210h
1518h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 6B00 01 10h
02h Door 2 controlword 6B00 02 10h
03h Door 3 controlword 6B00 03 10h
1718h
04h Door 4 controlword 6B00 04 10h
5.3.5.27 Receive PDO lift number 3 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 220h
1528h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 7300 01 10h
02h Door 2 controlword 7300 02 10h
03h Door 3 controlword 7300 03 10h
1728h
04h Door 4 controlword 7300 04 10h
5.3.5.28 Receive PDO lift number 4 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 230h
1538h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 7B00 01 10h
02h Door 2 controlword 7B00 02 10h
03h Door 3 controlword 7B00 03 10h
1738h
04h Door 4 controlword 7B00 04 10h
5.3.5.29 Receive PDO lift number 5 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 240h
1548h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 8300 01 10h
02h Door 2 controlword 8300 02 10h
03h Door 3 controlword 8300 03 10h
1748h
04h Door 4 controlword 8300 04 10h
5.3.5.30 Receive PDO lift number 6 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 250h
1558h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 8B00 01 10h
02h Door 2 controlword 8B00 02 10h
03h Door 3 controlword 8B00 03 10h
1758h
04h Door 4 controlword 8B00 04 10h
5.3.5.31 Receive PDO lift number 7 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 260h
1568h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 9300 01 10h
02h Door 2 controlword 9300 02 10h
03h Door 3 controlword 9300 03 10h
1768h
04h Door 4 controlword 9300 04 10h
5.3.5.32 Receive PDO lift number 8 car door control
This RPDO contains control data for the car door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 270h
1578h
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 controlword 9B00 01 10h
02h Door 2 controlword 9B00 02 10h
03h Door 3 controlword 9B00 03 10h
1778h
04h Door 4 controlword 9B00 04 10h
5.3.5.33 Receive PDO lift number 1 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 205h
150Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Bh
01h Door 1 light barrier status 6310 01 08h
5.3.5.34 Receive PDO lift number 2 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 215h
151Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Bh
01h Door 1 light barrier status 6B10 01 08h
5.3.5.35 Receive PDO lift number 3 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 225h
152Bh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Bh
01h Door 1 light barrier status 7310 01 08h
5.3.5.36 Receive PDO lift number 4 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 235h
153Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Bh
01h Door 1 light barrier status 7B10 01 08h
5.3.5.37 Receive PDO lift number 5 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 245h
154Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Bh
01h Door 1 light barrier status 8310 01 08h
5.3.5.38 Receive PDO lift number 6 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 255h
155Bh
02h Transmission type 255
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Bh
01h Door 1 light barrier status 8B10 01 08h
5.3.5.39 Receive PDO lift number 7 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 265h
156Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Bh
01h Door 1 light barrier status 9310 01 08h
5.3.5.40 Receive PDO lift number 8 light barrier 1
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 275h
157Bh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Bh
01h Door 1 light barrier status 9B10 01 08h
5.3.5.41 Receive PDO lift number 1 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 206h
150Dh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Dh
01h Door 2 light barrier status 6310 02 08h
5.3.5.42 Receive PDO lift number 2 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 216h
151Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Dh
01h Door 2 light barrier status 6B10 02 08h
5.3.5.43 Receive PDO lift number 3 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 226h
152Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Dh
01h Door 2 light barrier status 7310 02 08h
5.3.5.44 Receive PDO lift number 4 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 236h
153Dh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Dh
01h Door 2 light barrier status 7B10 02 08h
5.3.5.45 Receive PDO lift number 5 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 246h
154Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Dh
01h Door 2 light barrier status 8310 02 08h
5.3.5.46 Receive PDO lift number 6 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 256h
155Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Dh
01h Door 2 light barrier status 8B10 02 08h
5.3.5.47 Receive PDO lift number 7 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 266h
156Dh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Dh
01h Door 2 light barrier status 9310 02 08h
5.3.5.48 Receive PDO lift number 8 light barrier 2
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 276h
157Dh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Dh
01h Door 2 light barrier status 9B10 02 08h
5.3.5.49 Receive PDO lift number 1 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 207h
150Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4170Fh
01h Door 3 light barrier status 6310 03 08h
5.3.5.50 Receive PDO lift number 2 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 217h
151Fh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4171Fh
01h Door 3 light barrier status 6B10 03 08h
5.3.5.51 Receive PDO lift number 3 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 227h
152Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4172Fh
01h Door 3 light barrier status 7310 03 08h
5.3.5.52 Receive PDO lift number 4 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 237h
153Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4173Fh
01h Door 3 light barrier status 7B10 03 08h
5.3.5.53 Receive PDO lift number 5 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 247h
154Fh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4174Fh
01h Door 3 light barrier status 8310 03 08h
5.3.5.54 Receive PDO lift number 6 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 257h
155Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4175Fh
01h Door 3 light barrier status 8B10 03 08h
5.3.5.55 Receive PDO lift number 7 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 267h
156Fh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4176Fh
01h Door 3 light barrier status 9310 03 08h
5.3.5.56 Receive PDO lift number 8 light barrier 3
This RPDO contains status information of the laight barrier that protects the area of the appropriatecar door unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 277h
157Fh
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4177Fh
01h Door 3 light barrier status 9B10 03 08h
5.3.6 Light barrier unit
5.3.6.1 Transmit PDO lift number 1 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 205h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B0Bh
01h Door 1 light barrier status 6310 01 08h
5.3.6.2 Transmit PDO lift number 2 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 215h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B1Bh
01h Door 1 light barrier status 6B10 01 08h
5.3.6.3 Transmit PDO lift number 3 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 225h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Bh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B2Bh
01h Door 1 light barrier status 7310 01 08h
5.3.6.4 Transmit PDO lift number 4 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 235h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B3Bh
01h Door 1 light barrier status 7B10 01 08h
5.3.6.5 Transmit PDO lift number 5 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 245h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B4Bh
01h Door 1 light barrier status 8310 01 08h
5.3.6.6 Transmit PDO lift number 6 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 255h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Bh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B5Bh
01h Door 1 light barrier status 8B10 01 08h
5.3.6.7 Transmit PDO lift number 7 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 265h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B6Bh
01h Door 1 light barrier status 9310 01 08h
5.3.6.8 Transmit PDO lift number 8 light barrier 1
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 275h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Bh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B7Bh
01h Door 1 light barrier status 9B10 01 08h
5.3.6.9 Transmit PDO lift number 1 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 206h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Dh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B0Dh
01h Door 2 light barrier status 6310 02 08h
5.3.6.10 Transmit PDO lift number 2 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 216h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Dh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B1Dh
01h Door 2 light barrier status 6B10 02 08h
5.3.6.11 Transmit PDO lift number 3 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 226h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Dh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B2Dh
01h Door 2 light barrier status 7310 02 08h
5.3.6.12 Transmit PDO lift number 4 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 236h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Dh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B3Dh
01h Door 2 light barrier status 7B10 02 08h
5.3.6.13 Transmit PDO lift number 5 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 246h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Dh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B4Dh
01h Door 2 light barrier status 8310 02 08h
5.3.6.14 Transmit PDO lift number 6 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 256h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Dh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B5Dh
01h Door 2 light barrier status 8B10 02 08h
5.3.6.15 Transmit PDO lift number 7 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 266h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Dh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B6Dh
01h Door 2 light barrier status 9310 02 08h
5.3.6.16 Transmit PDO lift number 8 light barrier 2
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 276h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Dh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B7Dh
01h Door 2 light barrier status 9B10 02 08h
5.3.6.17 Transmit PDO lift number 1 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 207h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
190Fh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B0Fh
01h Door 3 light barrier status 6310 03 08h
5.3.6.18 Transmit PDO lift number 2 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 217h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
191Fh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B1Fh
01h Door 3 light barrier status 6B10 03 08h
5.3.6.19 Transmit PDO lift number 3 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 227h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
192Fh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B2Fh
01h Door 3 light barrier status 7310 03 08h
5.3.6.20 Transmit PDO lift number 4 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 237h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
193Fh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B3Fh
01h Door 3 light barrier status 7B10 03 08h
5.3.6.21 Transmit PDO lift number 5 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 247h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
194Fh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B4Fh
01h Door 3 light barrier status 8310 03 08h
5.3.6.22 Transmit PDO lift number 6 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 257h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
195Fh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B5Fh
01h Door 3 light barrier status 8B10 03 08h
5.3.6.23 Transmit PDO lift number 7 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 267h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
196Fh
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B6Fh
01h Door 3 light barrier status 9310 03 08h
5.3.6.24 Transmit PDO lift number 8 light barrier 3
This TPDO shall be transmitted whenever the status of the light barrier protecting the area of theappropriate car door unit changes.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 277h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
197Fh
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 41B7Fh
01h Door 3 light barrier status 9B10 03 08h
5.3.7 Position unit
5.3.7.1 Transmit PDO lift number 1 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 18Ch
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1906h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B06h
01h Car position 1 6383 01 20h
5.3.7.2 Transmit PDO lift number 2 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 19Ch
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1916h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B16h
01h Car position 1 6B83 01 20h
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5.3.7.3 Transmit PDO lift number 3 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ACh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1926h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B26h
01h Car position 1 7383 01 20h
5.3.7.4 Transmit PDO lift number 4 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1BCh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1936h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B36h
01h Car position 1 7B83 01 20h
5.3.7.5 Transmit PDO lift number 5 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1CCh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1946h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B46h
01h Car position 1 8383 01 20h
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5.3.7.6 Transmit PDO lift number 6 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1DCh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1956h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B56h
01h Car position 1 8B83 01 20h
5.3.7.7 Transmit PDO lift number 7 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ECh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1966h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B66h
01h Car position 1 9383 01 20h
5.3.7.8 Transmit PDO lift number 8 car position 1
This TPDO shall be transmitted whenever the event timer of the car position unit 1 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1FCh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1976h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B76h
01h Car position 1 9B83 01 20h
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5.3.7.9 Transmit PDO lift number 1 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 18Dh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1907h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B07h
01h Car position 2 6383 02 20h
5.3.7.10 Transmit PDO lift number 2 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 19Dh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1917h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B17h
01h Car position 2 6B83 02 20h
5.3.7.11 Transmit PDO lift number 3 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ADh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1927h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B27h
01h Car position 2 7383 02 20h
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5.3.7.12 Transmit PDO lift number 4 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1BDh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1937h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B37h
01h Car position 2 7B83 02 20h
5.3.7.13 Transmit PDO lift number 5 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1CDh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1947h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B47h
01h Car position 2 8383 02 20h
5.3.7.14 Transmit PDO lift number 6 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1DDh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1957h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B57h
01h Car position 2 8B83 02 20h
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5.3.7.15 Transmit PDO lift number 7 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1EDh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1967h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B67h
01h Car position 2 9383 02 20h
5.3.7.16 Transmit PDO lift number 8 car position 2
This TPDO shall be transmitted whenever the event timer of the car position unit 2 expires, if the eventtimer is set to a value unequal 0 and the transmission type is set to 255d. If the event timer is equal 0and the transmission type is set to 255d, then the TPDO shall not be transmitted.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1FDh
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1977h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B77h
01h Car position 2 9B83 02 20h
5.3.8 Car drive controller
5.3.8.1 Transmit PDO lift number 1 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 180h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1904h
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6400 00 10h
1B04h
02h Target position 6420 00 20h
5.3.8.2 Transmit PDO lift number 2 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 190h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1914h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6C00 00 10h
1B14h
02h Target position 6C20 00 20h
5.3.8.3 Transmit PDO lift number 3 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1924h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7400 00 10h
1B24h
02h Target position 7420 00 20h
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5.3.8.4 Transmit PDO lift number 4 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1934h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7C00 00 10h
1B34h
02h Target position 7C20 00 20h
5.3.8.5 Transmit PDO lift number 5 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1944h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8400 00 10h
1B44h
02h Target position 8420 00 20h
5.3.8.6 Transmit PDO lift number 6 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1954h
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8C00 00 10h
1B54h
02h Target position 8C20 00 20h
5.3.8.7 Transmit PDO lift number 7 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1964h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9400 00 10h
1B64h
02h Target position 9420 00 20h
5.3.8.8 Transmit PDO lift number 8 car drive control – profile postion mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile position mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F0h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1974h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9C00 00 10h
1B74h
02h Target position 9C20 00 20h
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5.3.8.9 Transmit PDO lift number 1 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 184h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1906h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6400 00 10h
1B06h
02h Target velocity 6430 00 20h
5.3.8.10 Transmit PDO lift number 2 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 194h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1916h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6C00 00 10h
1B16h
02h Target velocity 6C30 00 20h
5.3.8.11 Transmit PDO lift number 3 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1926h
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7400 00 10h
1B26h
02h Target velocity 7430 00 20h
5.3.8.12 Transmit PDO lift number 4 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1936h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7C00 00 10h
1B36h
02h Target velocity 7C30 00 20h
5.3.8.13 Transmit PDO lift number 5 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1946h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8400 00 10h
1B46h
02h Target velocity 8430 00 20h
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5.3.8.14 Transmit PDO lift number 6 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1956h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8C00 00 10h
1B56h
02h Target velocity 8C30 00 20h
5.3.8.15 Transmit PDO lift number 7 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1966h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9400 00 10h
1B66h
02h Target velocity 9430 00 20h
5.3.8.16 Transmit PDO lift number 8 car drive control – profile velocity mode
This TPDO shall be transmitted whenever the car drive controller gets a request to move or stop thecar, if the transmission type is set to 255d. This TPDO shall be supported if the car positioning is basedon the profile velocity mode of the car drive unit.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F4h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1976h
05h Event timer 0
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9C00 00 10h
1B76h
02h Target velocity 9C30 00 20h
5.3.8.17 Receive PDO lift number 1 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 181h
1505h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6401 00 10h
1705h
02h Control effort 6406 00 20h
5.3.8.18 Receive PDO lift number 2 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 191h
1515h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6C01 00 10h
1715h
02h Control effort 6C06 00 20h
5.3.8.19 Receive PDO lift number 3 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A1h
1525h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7401 00 10h
1725h
02h Control effort 7406 00 20h
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5.3.8.20 Receive PDO lift number 4 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B1h
1535h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7C01 00 10h
1735h
02h Control effort 7C06 00 20h
5.3.8.21 Receive PDO lift number 5 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C1h
1545h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8401 00 10h
1745h
02h Control effort 8406 00 20h
5.3.8.22 Receive PDO lift number 6 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D1h
1555h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8C01 00 10h
1755h
02h Control effort 8C06 00 20h
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5.3.8.23 Receive PDO lift number 7 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E1h
1565h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9401 00 10h
1765h
02h Control effort 9406 00 20h
5.3.8.24 Receive PDO lift number 8 car drive status – profile position mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile position mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F1h
1575h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9C01 00 10h
1775h
02h Control effort 9C06 00 20h
5.3.8.25 Receive PDO lift number 1 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 185h
1507h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6401 00 10h
1707h
02h Velocity actual value 6433 00 20h
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5.3.8.26 Receive PDO lift number 2 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 195h
1517h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6C01 00 10h
1717h
02h Velocity actual value 6C33 00 20h
5.3.8.27 Receive PDO lift number 3 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A5h
1527h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7401 00 10h
1727h
02h Velocity actual value 7433 00 20h
5.3.8.28 Receive PDO lift number 4 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B5h
1537h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7C01 00 10h
1737h
02h Velocity actual value 7C33 00 20h
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5.3.8.29 Receive PDO lift number 5 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C5h
1547h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8401 00 10h
1747h
02h Velocity actual value 8433 00 20h
5.3.8.30 Receive PDO lift number 6 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D5h
1557h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8C01 00 10h
1757h
02h Velocity actual value 8C33 00 20h
5.3.8.31 Receive PDO lift number 7 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E5h
1567h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9401 00 10h
1767h
02h Velocity actual value 9433 00 20h
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5.3.8.32 Receive PDO lift number 8 car drive status – profile velocity mode
This RPDO contains the current status information of the car drive unit. This RPDO shall be supportedif the car position is based on the profile velocity mode of the car drive unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F5h
1577h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9C01 00 10h
1777h
02h Velocity actual value 9C33 00 20h
5.3.8.33 Receive PDO lift number 1 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 188h
1502h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11702h
01h Load signaling 6482 01 08h
5.3.8.34 Receive PDO lift number 2 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 198h
1512h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11712h
01h Load signaling 6C82 01 08h
5.3.8.35 Receive PDO lift number 3 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A8h
1522h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11722h
01h Load signaling 7482 01 08h
5.3.8.36 Receive PDO lift number 4 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B8h
1532h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11732h
01h Load signaling 7C82 01 08h
5.3.8.37 Receive PDO lift number 5 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C8h
1542h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11742h
01h Load signaling 8482 01 08h
5.3.8.38 Receive PDO lift number 6 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D8h
1552h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11752h
01h Load signaling 8C82 01 08h
5.3.8.39 Receive PDO lift number 7 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E8h
1562h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11762h
01h Load signaling 9482 01 08h
5.3.8.40 Receive PDO lift number 8 load measuring
This RPDO contains the current status information of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F8h
1572h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11772h
01h Load signaling 9C82 01 08h
5.3.8.41 Receive PDO lift number 1 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 18Ch
1506h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11706h
01h Position unit 1 6383 01 20h
5.3.8.42 Receive PDO lift number 2 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 19Ch
1516h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11716h
01h Position unit 1 6B83 01 20h
5.3.8.43 Receive PDO lift number 3 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ACh
1526h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11726h
01h Position unit 1 7383 01 20h
5.3.8.44 Receive PDO lift number 4 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1BCh
1536h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11736h
01h Position unit 1 7B83 01 20h
5.3.8.45 Receive PDO lift number 5 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1CCh
1546h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11746h
01h Position unit 1 8383 01 20h
5.3.8.46 Receive PDO lift number 6 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1DCh
1556h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11756h
01h Position unit 1 8B83 01 20h
5.3.8.47 Receive PDO lift number 7 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ECh
1566h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11766h
01h Position unit 1 9383 01 20h
5.3.8.48 Receive PDO lift number 8 car position
This RPDO contains the current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1FCh
1576h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11776h
01h Position unit 1 9B83 01 20h
5.3.8.49 Receive PDO lift number 1 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 201h
150Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6301 01 10h
170Ah
02h Door 1 position 6302 01 10h
5.3.8.50 Receive PDO lift number 2 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 211h
151Ah
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 6B01 01 10h
171Ah
02h Door 1 position 6B02 01 10h
5.3.8.51 Receive PDO lift number 3 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 221h
152Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7301 01 10h
172Ah
02h Door 1 position 7302 01 10h
5.3.8.52 Receive PDO lift number 4 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 231h
153Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7B01 01 10h
173Ah
02h Door 1 position 7B02 01 10h
5.3.8.53 Receive PDO lift number 5 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 241h
154Ah
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8301 01 10h
174Ah
02h Door 1 position 8302 01 10h
5.3.8.54 Receive PDO lift number 6 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 251h
155Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 8B01 01 10h
175Ah
02h Door 1 position 8B02 01 10h
5.3.8.55 Receive PDO lift number 7 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 261h
156Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9301 01 10h
176Ah
02h Door 1 position 9302 01 10h
5.3.8.56 Receive PDO lift number 8 car door 1 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 201h
157Ah
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 9B01 01 10h
177Ah
02h Door 1 position 9B02 01 10h
5.3.8.57 Receive PDO lift number 1 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 202h
150Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6301 02 10h
170Ch
02h Door 2 position 6302 02 10h
5.3.8.58 Receive PDO lift number 2 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 212h
151Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 6B01 02 10h
171Ch
02h Door 2 position 6B02 02 10h
5.3.8.59 Receive PDO lift number 3 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 222h
152Ch
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
91
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 7301 02 10h
172Ch
02h Door 2 position 7302 02 10h
5.3.8.60 Receive PDO lift number 4 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 231h
153Ah
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 1 statusword 7B01 01 10h
173Ah
02h Door 1 position 7B02 01 10h
5.3.8.61 Receive PDO lift number 5 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 242h
154Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8301 02 10h
174Ch
02h Door 2 position 8302 02 10h
5.3.8.62 Receive PDO lift number 6 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 252h
155Ch
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
92
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 8B01 02 10h
175Ch
02h Door 2 position 8B02 02 10h
5.3.8.63 Receive PDO lift number 7 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 262h
156Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9301 02 10h
176Ch
02h Door 2 position 9302 02 10h
5.3.8.64 Receive PDO lift number 8 car door 2 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 202h
157Ch
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 2 statusword 9B01 01 10h
177Ch
02h Door 2 position 9B02 01 10h
5.3.8.65 Receive PDO lift number 1 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 203h
150Eh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
93
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6301 03 10h
170Eh
02h Door 3 position 6302 03 10h
5.3.8.66 Receive PDO lift number 2 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 213h
151Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 6B01 03 10h
171Eh
02h Door 3 position 6B02 03 10h
5.3.8.67 Receive PDO lift number 3 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 223h
152Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7301 03 10h
172Eh
02h Door 3 position 7302 03 10h
5.3.8.68 Receive PDO lift number 4 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 233h
153Eh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
94
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 7B01 03 10h
173Eh
02h Door 3 position 7B02 03 10h
5.3.8.69 Receive PDO lift number 5 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 243h
154Eh
02h Transmission type 255
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8301 03 10h
174Eh
02h Door 3 position 8302 03 10h
5.3.8.70 Receive PDO lift number 6 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 253h
155Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 8B01 03 10h
175Eh
02h Door 3 position 8B02 03 10h
5.3.8.71 Receive PDO lift number 7 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 263h
156Eh
02h Transmission type 255d
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
95
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9301 03 10h
176Eh
02h Door 3 position 9302 03 10h
5.3.8.72 Receive PDO lift number 8 car door 3 status and position
This RPDO contains status information of the car door unit and the position of the according car door.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 203h
157Eh
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 4
01h Door 3 statusword 9B01 03 10h
177Eh
02h Door 3 position 9B02 03 10h
5.3.9 Car drive unit
5.3.9.1 Transmit PDO lift number 1 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 181h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1905h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6401 00 10h
1B05h
02h Control effort 6406 00 20h
5.3.9.2 Transmit PDO lift number 2 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 191h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1915h
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6C01 00 10h
1B15h
02h Control effort 6C06 00 20h
5.3.9.3 Transmit PDO lift number 3 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1925h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7401 00 10h
1B25h
02h Control effort 7406 00 20h
5.3.9.4 Transmit PDO lift number 4 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1935h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7C01 00 10h
1B35h
02h Control effort 7C06 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.5 Transmit PDO lift number 5 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1945h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8401 00 10h
1B45h
02h Control effort 8406 00 20h
5.3.9.6 Transmit PDO lift number 6 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1955h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8C01 00 10h
1B55h
02h Control effort 8C06 00 20h
5.3.9.7 Transmit PDO lift number 7 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1965h
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9401 00 10h
1B65h
02h Control effort 9406 00 20h
5.3.9.8 Transmit PDO lift number 8 car drive status – profile position mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile position mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F1h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1975h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9C01 00 10h
1B75h
02h Control effort 9C06 00 20h
5.3.9.9 Transmit PDO lift number 1 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 185h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1907h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6401 00 10h
1B07h
02h Velocity actual value 6433 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.10 Transmit PDO lift number 2 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 195h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1917h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 6C01 00 10h
1B17h
02h Velocity actual value 6C33 00 20h
5.3.9.11 Transmit PDO lift number 3 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1927h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7401 00 10h
1B27h
02h Velocity actual value 7433 00 20h
5.3.9.12 Transmit PDO lift number 4 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1937h
05h Event timer 0
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 7C01 00 10h
1B37h
02h Velocity actual value 7C33 00 20h
5.3.9.13 Transmit PDO lift number 5 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1947h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8401 00 10h
1B47h
02h Velocity actual value 8433 00 20h
5.3.9.14 Transmit PDO lift number 6 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1957h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 8C01 00 10h
1B57h
02h Velocity actual value 8C33 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.15 Transmit PDO lift number 7 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1967h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9401 00 10h
1B67h
02h Velocity actual value 9433 00 20h
5.3.9.16 Transmit PDO lift number 8 car drive status – profile velocity mode
This TPDO shall be transmitted whenever the status of the car drive unit changes, if the transmissiontype is set 255d. This TPDO shall be supported if the car drive is used in profile velocity mode.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F5h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1977h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Statusword 9C01 00 10h
1B77h
02h Velocity actual value 9C33 00 20h
5.3.9.17 Receive PDO lift number 1 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 180h
1504h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6400 00 10h
1704h
02h Target position 6420 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.18 Receive PDO lift number 2 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 190h
1514h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6C00 00 10h
1714h
02h Target position 6C20 00 20h
5.3.9.19 Receive PDO lift number 3 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A0h
1524h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7400 00 10h
1724h
02h Target position 7420 00 20h
5.3.9.20 Receive PDO lift number 4 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B0h
1534h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7C00 00 10h
1734h
02h Target position 7C20 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.21 Receive PDO lift number 5 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C0h
1544h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8400 00 10h
1744h
02h Target position 8420 00 20h
5.3.9.22 Receive PDO lift number 6 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D0h
1554h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8C00 00 10h
1754h
02h Target position 8C20 00 20h
5.3.9.23 Receive PDO lift number 7 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E0h
1564h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9400 00 10h
1764h
02h Target position 9420 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.24 Receive PDO lift number 8 car drive control – profile position mode
This RPDO contains the current control data including of the current target position. This RPDO shallbe supported if the car drive unit is used in profile position mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F0h
1574h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9C00 00 10h
1774h
02h Target position 9C20 00 20h
5.3.9.25 Receive PDO lift number 1 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 184h
1506h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6400 00 10h
1706h
02h Target velocity 6430 00 20h
5.3.9.26 Receive PDO lift number 2 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 194h
1516h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 6C00 00 10h
1716h
02h Target velocity 6C30 00 20h
DSP 417-3 1.0.1 CANopen Application Profile for Lift Control Systems CiA
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5.3.9.27 Receive PDO lift number 3 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A4h
1526h
02h Transmission type 255
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7400 00 10h
1726h
02h Target velocity 7430 00 20h
5.3.9.28 Receive PDO lift number 4 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B4h
1536h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 7C00 00 10h
1736h
02h Target velocity 7C30 00 20h
5.3.9.29 Receive PDO lift number 5 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C4h
1546h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8400 00 10h
1746h
02h Target velocity 8430 00 20h
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5.3.9.30 Receive PDO lift number 6 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D4h
1556h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 8C00 00 10h
1756h
02h Target velocity 8C30 00 20h
5.3.9.31 Receive PDO lift number 7 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E4h
1566h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9400 00 10h
1766h
02h Target velocity 9430 00 20h
5.3.9.32 Receive PDO lift number 8 car drive control – profile velocity mode
This RPDO contains the current control data including of the current target velocity. This RPDO shallbe supported if the car drive unit is used in profile velocity mode.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F4h
1576h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 2
01h Controlword 9C00 00 10h
1776h
02h Target velocity 9C30 00 20h
5.3.9.33 Receive PDO lift number 1 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 188h
1502h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11702h
01h Load signaling 6482 01 08h
5.3.9.34 Receive PDO lift number 2 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 198h
1512h
02h Transmission type 255
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11712h
01h Load signaling 6C82 01 08h
5.3.9.35 Receive PDO lift number 3 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A8h
1522h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11722h
01h Load signaling 7482 01 08h
5.3.9.36 Receive PDO lift number 4 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B8h
1532h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11732h
01h Load signaling 7C82 01 08h
5.3.9.37 Receive PDO lift number 5 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C8h
1542h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11742h
01h Load signaling 8482 01 08h
5.3.9.38 Receive PDO lift number 6 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D8h
1552h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11752h
01h Load signaling 8C82 01 08h
5.3.9.39 Receive PDO lift number 7 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E8h
1562h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11762h
01h Load signaling 9482 01 08h
5.3.9.40 Receive PDO lift number 8 load measuring
This RPDO contains current status of the load measuring unit.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F8h
1572h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11772h
01h Load signaling 9C82 01 08h
5.3.9.41 Receive PDO lift number 1 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 18Ch
1506h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11706h
01h Position unit 1 6383 01 20h
5.3.9.42 Receive PDO lift number 2 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 19Ch
1516h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11716h
01h Position unit 1 6B83 01 20h
5.3.9.43 Receive PDO lift number 3 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ACh
1526h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11726h
01h Position unit 1 7383 01 20h
5.3.9.44 Receive PDO lift number 4 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1BCh
1536h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11736h
01h Position unit 1 7B83 01 20h
5.3.9.45 Receive PDO lift number 5 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1CCh
1546h
02h Transmission type 255d
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Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11746h
01h Position unit 1 8383 01 20h
5.3.9.46 Receive PDO lift number 6 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1DCh
1556h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11756h
01h Position unit 1 8B83 01 20h
5.3.9.47 Receive PDO lift number 7 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1ECh
1566h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11766h
01h Position unit 1 9383 01 20h
5.3.9.48 Receive PDO lift number 8 car position
This RPDO contains current position of the car position unit 1.
Receive PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1FCh
1576h
02h Transmission type 255d
Receive PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11776h
01h Position unit 1 9B83 01 20h
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5.3.10 Load measuring unit
5.3.10.1 Transmit PDO lift number 1 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 188h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1902h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B02h
01h Load signaling 6482 01 08h
5.3.10.2 Transmit PDO lift number 2 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 198h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1912h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B12h
01h Load signaling 6C82 01 08h
5.3.10.3 Transmit PDO lift number 3 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1A8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1922h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B22h
01h Load signaling 7482 01 08h
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5.3.10.4 Transmit PDO lift number 4 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1B8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1932h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B32h
01h Load signaling 7C82 01 08h
5.3.10.5 Transmit PDO lift number 5 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1C8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1942h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B42h
01h Load signaling 8482 01 08h
5.3.10.6 Transmit PDO lift number 6 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1D8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1952h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B52h
01h Load signaling 8C82 01 08h
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5.3.10.7 Transmit PDO lift number 7 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1E8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1962h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B62h
01h Load signaling 9482 01 08h
5.3.10.8 Transmit PDO lift number 8 load measuring
This TPDO shall be transmitted whenever the status of the load measuring unit changes and thetransmission type is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 1F8h
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1972h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B072h
01h Load signaling 9C82 01 08h
5.3.11 Sensor unit
5.3.11.1 Transmit PDO sensor input
This TPDO shall be transmitted whenever the status of the sensor is changing and the transmissiontype is set to 255d.
Transmit PDO communication parameter
Index Sub-Index Comment Default Value
00h Largest sub-index supported No
01h COB-ID used by PDO 280h + Node-ID
02h Transmission type 255d
03h Inhibit time 0
04h reserved See /CiA301/
1981h
05h Event timer 0
Transmit PDO mapping parameter
Index Sub-Index Comment Default Value
00h Number of mapped objects 11B81h
01h Sensor input mapping 6012 00 30h
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Annex A: Short overview of assignment
Offset to PDOparameter
Beschreibung COB-ID
000h -
001h MPDO (transmit) 500h + Node-ID
001h MPDO (receive) 501h
::: ::::: :::
07Fh MPDO (receive) 57Fh
080h -
081h Virtual input (transmit) 380h + Node-ID
081h Virtual input (receive) 381h
::: ::::: :::
0FFh Virtual input (receive) 3FFh
100h Virtual output 400h
101h Load measuring 188h
102h Car drive control – profile position mode 180h
103h Car drive status – profile position mode 181h
104h Car drive control – profile velocity mode 184h
105h Car drive status – profile velocity mode 185h
106h Car position 1 18Ch
107h Car position 2 18Dh
108h Car door control 200h
109h -
10Ah Car door 1 status + position 201h
10Bh Car door 1 light barrier 205h
10Ch Car door 2 status + position 202h
10Dh Car door 2 light barrier 206h
10Eh Car door 3 status + position 203h
10Fh
Lift
1
Car door 3 light barrier 207h
110h Virtual output 401h
111h Load measuring 198h
112h Car drive control – profile position mode 190h
113h Car drive status – profile position mode 191h
114h Car drive control – profile velocity mode 194h
115h Car drive status – profile velocity mode 195h
116h Car position 1 19Ch
117h Car position 2 19Dh
118h Car door control 210h
119h -
11Ah Car door 1 status + position 211h
11Bh Car door 1 light barrier 215h
11Ch Car door 2 status + position 212h
11Dh Car door 2 light barrier 216h
11Eh Car door 3 status + position 213h
11Fh
Lift
2
Car door 3 light barrier 217h
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Offset to PDOparameter
Beschreibung COB-ID
:::::::::::::
170h Virtual output 407h
171h Load measuring 1F8h
172h Car drive control – profile position mode 1F0h
173h Car drive status – profile position mode 1F1h
174h Car drive control – profile velocity mode 1F4h
175h Car drive status – profile velocity mode 1F5h
176h Car position 1 1FCh
177h Car position 2 1FDh
178h Car door control 270h
179h -
17Ah Car door 1 status + position 271h
17Bh Car door 1 light barrier 275h
17Ch Car door 2 status + position 272h
17Dh Car door 2 light barrier 276h
17Eh Car door 3 status + position 273h
17Fh
Lift
8
Car door 3 light barrier 277h
180h -
181h Sensor input (transmit) 280h + Node-ID
181h Sensor input (receive) 281h
::: ::::: :::
1FFh Sensor input (receive) 2FFh