31.7.10.21 Object 1800h to
1807h: TPDO Communication Parameter
This object stores information of sent PDO.
Properties
Object properties:
|
Sub index
|
Description
|
Data Type
Default
|
Access
PDO mapping
Backup
|
|
0
|
Sub index number
|
UNSIGNED8
5
|
ro (read only)
×
○
|
|
1
|
COB-ID
|
Object 1800h:
UNSIGNED32
180h + node ID
Object 1801 to 1803h:
UNSIGNED32
80000180h + the last digit of the object × 100h
+ Node ID
Object 1804 to 1807h:
UNSIGNED32
80000000h + node ID
|
rw (read-write)
×
○
|
|
2
|
Transmission mode
|
UNSIGNED8
255
|
rw (read-write)
×
○
|
|
3
|
Inhibit Time
|
UNSIGNED16
0
|
rw (read-write)
×
○
|
|
4
|
Unavailable
|
|
|
|
5
|
Event Timer
|
UNSIGNED16
0
|
rw (read-write)
×
○
|
Transmission mode
PDO transmission mode can be set as in the following table.
|
Transfer code
|
Transmission mode
|
Remarks
|
|
Cyclic
|
Noncyclic
|
Synchronous
|
Asynchronous
|
RTR only
|
|
0
|
|
×
|
×
|
|
|
Send PDO in the first Sync message after the
event
|
|
1 to 240
|
×
|
|
×
|
|
|
Send PDO per x pieces of Sync message
|
|
241 to 251
|
Reserved
|
|
—
|
|
252
|
Disable
|
Receive SYNC message and send PDO with remote
request
|
|
253
|
Disable
|
Update the data and send PDO with remote
request
|
|
254
|
|
|
|
×
|
|
Send PDO when an event occurs
|
|
255
|
|
|
|
×
|
|
Send PDO when an event occurs
|
COB-ID configuration
Configuration of COB-ID that supports CAN2.0 is shown in the
following table:
|
Bit number
|
Value
|
Description
|
|
31 (MSB)
|
0
|
PDO objects exist
|
|
1
|
No PDO objects exist
|
|
30
|
—
|
Reserved
|
|
29
|
0
|
11-Bit ID (CAN
2.0A)
|
|
28 to 11
|
0
|
For bit 29 = 0
|
|
10 to 0 (LSB)
|
X
|
ID bit 10 to 0
|
Inhibit Time
For "Send PDO", you can enter Inhibited Time value in this 16
bit field. When the data loads, the PDO sender checks whether
"Inhibited Time" has passed after the previous send. You can send a
new PDO only when "Inhibited Time" passes. "Inhibited Time" helps
avoid overload of the CAN bus in asynchronous sending (sending mode
255). "Inhibited Time" is in multiples of 100 µs for objects
1800.03 to 1807.03.
Examples of the value are shown in the following table:
|
Value
|
Event timer (ms)
|
|
0000h
|
0
|
|
64h
|
10
|
|
3E8h
|
100
|
|
1388h
|
500
|
|
2710h
|
1000
|
|
FFFFh
|
6553
|
Event Timer
"Event Timer" acts only in the asynchronous transmission mode
(255). Temporary transmission is sent when the data changes before
"Event Timer" is ended. When a value greater than 0 is written in
this 16 bit field, TPDO is continuously sent after "Event Timer"
ends. The value written in 1800.05 to 1805.05 corresponds to "Event
Timer" in milliseconds. Data is transferred without data
changes.
Examples of the value are shown in the following table:
|
Value
|
Event timer (ms)
|
|
0000h
|
0
|
|
64h
|
10
|
|
3E8h
|
100
|
|
1388h
|
500
|
|
2710h
|
1000
|
|
FFFFh
|
6553
|
|
