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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.

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