BEI Sensors THK4 - Manual (Page 26)

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Object 1800h: 1 st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1 st 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
nd
Transmit PDO Communication Parameter
This object contains the communication parameter of the 2 nd 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
0
X X
Send PDO on first Sync message
following an event
1-240 X X Send PDO every x Sync messages
241-251 reserved