1800h Transmit PDO 1 Communication Parameter
Function
Contains the communication parameters for the sending-side mapping (TX-PDO) 1. See chapter Process Data Object (PDO).
Object description
Index | 1800h |
Object name | Transmit PDO 1 Communication Parameter |
Object Code | RECORD |
Data type | PDO_COMMUNICATION_PARAMETER |
Savable | yes, category: communication |
Access | read only |
PDO mapping | no |
Allowed values | |
Preset value | |
Firmware version | FIR-v1426 |
Change history |
Firmware version FIR-v1738-B501312: The number of entries was changed from 6 to 7. |
Value description
Subindex | 00h |
Name | Number Of Entries |
Data type | UNSIGNED8 |
Access | read only |
PDO mapping | no |
Allowed values | |
Preset value | 06h |
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 |
Subindex | 06h |
Name | SYNC Start Value |
Data type | UNSIGNED8 |
Access | read / write |
PDO mapping | no |
Allowed values | |
Preset value | 00h |
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 100 µs steps 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.
Subindex 6 (sync start value): Here, the start value of the Sync Counter is entered beginning with which the slave is to initially respond to the sync and send the PDO. Thereafter, sending of the PDO is only dependent on Transmission Type (subindex 02h). Not globally activated until a value greater than 1 is set in 1019h Synchronous Counter Overflow Value.
For details, see chapter on configuring the Tx-PDO mapping.