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Object 1800h: 1

Transmit PDO Communication Parameter

This object contains the communication parameter of the 1

transmit PDO.

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Number of sub indices Unsigned 8 5 ro yes

1 COB-ID Unsigned 32 180h + Node ID rw yes

2 Transmission Mode Unsigned 8 FE rw yes

3 Inhibit Time Unsigned 32 0 rw yes

4 Not available

5 Event Timer Unsigned 32 64h or 0 rw yes

Object 1801h: 2

Transmit PDO Communication Parameter

This object contains the communication parameter of the 2

transmit PDO. NOTE: In the OCD versions

C2 and C5 the second PDO was configured via object 1802!

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Number of sub indices Unsigned 8 5 ro yes

1 COB-ID Unsigned 32 280h + Node ID rw yes

2 Transmission Mode Unsigned 8 1 rw yes

3 Inhibit Time Unsigned 32 0 rw yes

4 Not available

5 Event Timer Unsigned 32 0 rw yes

Transmission Mode

The transmission mode can be configured as described below:

Transmission Mode Transfer

Value

(decimal)

Cyclic Acyclic Synchro

nous

Asynchr

onous

RTR

only

Notes

X X

Send PDO on first Sync message

following an event

1-240 X X Send PDO every x Sync messages

241-251 reserved

1 2 ... 21 22 23 24 25 26 27 28 29 30 31 ... 56 57

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Bei-sensors THK4 Manual do Utilizador Página 26

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