1802h TxPDO communication parameter 3


  • 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.

 

Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable SMM Versions
Highest sub-index supported 1802h 0 Unsigned8 - - Read only No All
COB-ID used by TxPDO 3 1802h 1 Unsigned32 - - Read/Write No All
Transmission type 1802h 2 Unsigned8 - - Read/Write No All
Inhibit time 1802h 3 Unsigned16 - - Read/Write No All
Reserved 1802h 4 Unsigned8 - - Read/Write No All
Event timer 1802h 5 Unsigned16 - - Read/Write No All