PD2-C CANopen Online Manual

1803h Transmit PDO 4 Communication Parameter

Function

Contains the communication parameters for the sending-side mapping (TX-PDO) 4. See chapter Process Data Object (PDO).

Object description


Index 1803h
Object name Transmit PDO 4 Communication Parameter
Object Code RECORD
Data type PDO_COMMUNICATION_PARAMETER
Savable yes, category: communication
Firmware version FIR-v1426
Change history  

Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 05h


Subindex 01h
Name COB-ID
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values  
Preset value 00000000h


Subindex 02h
Name Transmission Type
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values  
Preset value FFh


Subindex 03h
Name Inhibit Time
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0064h


Subindex 04h
Name Compatibility Entry
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values  
Preset value 00h


Subindex 05h
Name Event Timer
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values  
Preset value 0000h

Description

Subindex 01h (COB-ID): The COB-ID is stored here.

Subindex 02h (transmission type): A number is stored in this subindex that defines the time at which the received data become valid.

Subindex 3 (inhibit time): This can be used to set a time in milliseconds that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.

Subindex 4 (compatibility entry): This subindex has no function and exists only for compatibility reasons.

Subindex 5 (event timer): This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.

For details, see chapter on configuring the TX-PDO mapping.

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