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The model number will indicate what kind of device you have. Find the label on the side of the device, where "Model No:" is indicated.

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The model number will indicate what kind of fieldbus you have. Find the label on the side of the device, where "Model No:" is indicated.

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The model number will indicate what kind of function safety you have. Find the label on the side of the device, where "Model No:" is indicated.

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1800h-1803h TPDO COB-IDs


  • CAN bus only

These objects control the four TX PDOs coming from the drive on CAN bus.

Sub-index 1 COB-ID encoding

Bit Value Description
31 0 PDO exists/is valid
1 PDO does not exist/is not valid
30 0 RTR allowed on this PDO
1 RTR not allowed on this PDO
29 0 11 bit ID (CAN 2.0A)
  1 29 bit ID (CAN 2.0B) (not supported by AKD2G)
28-11 X Identifier bits when 29 bit ID is supported (not supported by AKD2G)
10-0 X Bits 10-0 of COB-ID

Sub-index 2 Transmission Type

There are two transmission types, event based of SYNC based:

  • A value of 0xFF/255 indicates the PDO is event based, meaning the PDO will be transmitted when the value of a mapped object within the PDO changes. Sub-index 3 or 5 will additionally modify when the value is sent to help reduce bus load and handle timeout in the object value does not change.
  • A value of 0-240 changes the PDO to be SYNC based.
    • 0 means the values will be sent the next SYNC signal

    • 1-240 means that 0-239 SYNC signals are ignored, before one is interpreted and the PDO is sent

Sub-index 3 Inhibit Time

The inhibit time allows a minimum time between PDO updates for an event triggered PDO. This prevents flooding the bus with traffic if the value is constantly changing. The units are specified in 100 uS increments.

Sub-index 5 Event Timer

The event timer is used for event based PDOs. It allows to specify a time to send the PDO in the event no mapped objects change to force a PDO update. The units are specified in 1 ms increments.

 

Name Index Sub-Index Data Type Float Scale Units Access PDO Mappable
Highest sub-index supported 1800h, 1801h, 1802h, 1803h 0h Unsigned8 - - Read only No
COB-ID used by TPDO 4 1800h, 1801h, 1802h, 1803h 1h Unsigned32 - - Read/Write No
Transmission type 1800h, 1801h, 1802h, 1803h 2h Unsigned8 - - Read/Write No
Inhibit time 1800h, 1801h, 1802h, 1803h 3h Unsigned16 - - Read/Write No
Reserved 1800h, 1801h, 1802h, 1803h 4h Unsigned8 - - Read/Write No
Event timer 1800h, 1801h, 1802h, 1803h 5h Unsigned16 - - Read/Write No

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