Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301)
1800h to 1803h for TxPDO 1 to 4.
|
Index |
|
|
Name |
transmit PDO parameter |
|
Object code |
RECORD |
|
Data type |
PDO CommPar |
|
Category |
mandatory |
|
Subindex |
0 |
|
Name |
highest sub-index supported |
|
Data type |
UNSIGNED8 |
|
Category |
mandatory |
|
Access |
R/O |
|
PDO Mapping |
not possible |
|
Value Range |
5 |
|
Default Value |
5 |
|
Subindex |
1 |
|
Name |
COB-ID used by PDO |
|
Category |
mandatory |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED32 |
|
Default Value |
Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID |
|
Subindex |
2 |
|
Name |
transmission type |
|
Category |
mandatory |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED8 |
|
Default Value |
FFh |
|
Subindex |
3 |
|
Name |
inhibit time |
|
Category |
optional |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED16 (n*1/10ms) |
|
Default Value |
0h |
|
Subindex |
4 |
|
Name |
reserved |
|
Category |
optional |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
0 |
|
Default Value |
0 |
|
Subindex |
5 |
|
Name |
event timer |
|
Category |
optional |
|
Access |
R/W |
|
PDO Mapping |
not possible |
|
Value Range |
UNSIGNED16 (0=not used, ms) |
|
Default Value |
0h |
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
|
Bit-Number |
Value |
Meaning |
|
31 |
0 |
PDO exists/is valid |
|
|
1 |
PDO does not exist/is not valid |
|
30 |
0 |
RTR allowed on this PDO, not supported |
|
|
1 |
RTR not allowed on this PDO, not supported |
|
29 |
0 |
11 bit-ID (CAN 2.0A) |
|
|
1 |
29 bit-ID (CAN 2.0B), not supported |
|
28 to 11 |
X |
Identifier-bits with 29 bit-ID, not relevant |
|
10 to 0 |
X |
Bits 10-0 of COB-ID |
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
- A value of FFh or 255d for an event-triggered PDO, which is sent immediately after a change in the mapped application objects. Setting of Subindex 3 or 5 has an influence on the sending of a PDO. With Subindex 3 you can configure, in which minimal time the so configured Transmit-PDOs are sent, if PDO-data contents change (reduction of bus-load). With Subindex 5 (event time) a timer is used, which is reset with every event-triggered sending of this PDO. If there is no change of the PDO-content in this time, the PDO is sent caused by this timer event.
- Values from 0 to 240 cause a SYNC-Telegram controlled sending of the PDO.
- Values from 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO.
- The value 0 means, that only the next SYNC-telegram leads to a sending of the so
configured PDOs.
