1800h-1803h TPDO COB-IDs
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 |
