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Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301)

1800h to 1803h for TxPDO 1 to 4.

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 Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID

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"Controller area network" CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously 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.

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