0x1800 - TPDO1
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x1800 | 0x01 | COB-ID used | UINT32 | RW | No | Yes | UINT32 | 0x40000180 + Node ID | - |
0x1800 | 0x02 | Transmission type | UINT8 | RW | No | Yes | UINT8 | 0xFF | - |
0x1800 | 0x03 | Inhibit time | UINT16 | RW | No | Yes | UINT16 | 1000 | 100μs |
0x1800 | 0x05 | Event time | UINT16 | RW | No | Yes | UINT16 | 0x0000 | milliseconds |
This object contains the communication parameters for the PDO 1 that CANopen device is able to transmit.
PDO configuration should be performed as detailed here (see Mapping Procedure section)
SubIndex description:
0x01 (COB-ID used): The format of COB-ID is the following:
Bit number:
31
30
29
28
…
11
10
…
0
valid
RTR
frame
0x00000
11-bit CAN-ID
29-bit CAN-ID
Bit
Value
Description
valid
0
PDO exists / is valid
1
PDO does not exist / is not valid
RTR
0
RTR allowed on this PDO
1
No RTR allowed on this PDO
frame
0
11-bit CAN-ID valid (CAN base frame)
1
29-bit CAN-ID valid (CAN extended frame) – not supported
29-bit CAN-ID
x
29-bit CAN-ID of the CAN extended frame – not supported
11-bit CAN-ID
x
11-bit CAN-ID of the CAN base frame
0x02 (Transmission type): Indicates the transmission types of the RPDO.
Value
Description
0x00
Synchronous (acyclic) – data will be sent only once after the SYNC
0x01
Synchronous (cyclic every SYNC) - data will be sent cyclically after receiving 1 SYNC
0x02
Synchronous (cyclic every 2nd SYNC) - data will be send cyclically after receiving 2 SYNC
…
0xF0
Synchronous (cyclic every 240th SYNC) - data will be sent cyclically after receiving 240 SYNC
0xFC-0xFD
RTR-only – The PDO is sent after the reception of a RTR.
0xFE-0xFF
Event-driven – The PDO is sent after the timeout of the event timer or when one of the mapped objects change.
- 0x03 (Inhibit time): It is expressed in multiples of 100μs. A value of zero will disable the inhibit time. This time is the minimum interval for PDO transmissions if transmission type is set to 0xFE or 0xFF. This value limits the transmission rate of the TPDOs even if the event time is set to a smaller time or the mapped objects change faster than the inhibit time.
0x05 (Event time): The time is the maximum interval for PDO transmission if the transmission type is set to 0xFE or 0xFF. It is expressed as multiples of 1ms. If the event time is reached, the PDO will be automatically transmitted. A value of zero will disable the event-timer.
This object only works in emcl CANopen version.