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

1800h to 1803h for TxPDO 1 to 4.

Index

1800h

1801h

1802h

1803h

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
Index 1802h: 380h + Node-ID Index 1803h: 480h + 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 (CANClosed"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.