Appendix A - Object Dictionary
NHA80945 04/2017 85
Transmit PDOs Parameters
Communication Objects
The table provides the communications objects used for transmit PDOs configuration of the drive:
Index Subindex Access Type Default value Description
1800 hex 00 hex Read only Unsigned8 05 hex Transmit PDO1 - Number of entries
01 hex Read/write Unsigned32 00000180 hex +
Node ID
Transmit PDO1 - COB-ID
02 hex Read/write Unsigned8 FF hex Transmit PDO1 - - Transmission type:
Three modes are available for this
PDO: asynchronous (255),
synchronously cyclic (1-240),
and synchronously acyclic (0)
03 hex Read/write Unsigned16 300 Transmit PDO1 - Inhibit time: Minimum
time between two transmissions;
Unit = 100 Μs
04 hex Read/write Unsigned8 — Transmit PDO1 - Reserved
05 hex Read/write Unsigned16 1000 Transmit PDO1 - Event timer: In
asynchronous mode, this object sets
a minimum rate of transmission for this
PDO;
Unit = 1 ms
1801 hex 00 hex Read only Unsigned8 05 hex Transmit PDO2 - Number of entries
01 hex Read/write Unsigned32 80000280 hex +
Node ID
Transmit PDO2 - COB-ID
02 hex Read/write Unsigned8 FF hex Transmit PDO2 - - Transmission type:
Three modes are available for this
PDO: asynchronous (255),
synchronously cyclic (1-240),
and synchronously acyclic (0)
03 hex Read/write Unsigned16 300 Transmit PDO2 - Inhibit time: Minimum
time between two transmissions;
unit = 100 Μs
04 hex Read/write Unsigned8 — Transmit PDO2 - Reserved
05 hex Read/write Unsigned16 1000 Transmit PDO2 - Event timer: In
asynchronous mode, this object sets
a minimum rate of transmission for this
PDO;
unit = 1 ms
1802 hex 00 hex Read only Unsigned8 05 hex Transmit PDO3 - Number of entries
01 hex Read/write Unsigned32 80000380 hex +
Node ID
Transmit PDO3 - COB-ID
02 hex Read/write Unsigned8 FF hex Transmit PDO3 - - Transmission type:
Three modes are available for this
PDO: asynchronous (255),
synchronously cyclic (1-240),
and synchronously acyclic (0)
03 hex Read/write Unsigned16 30 Transmit PDO3 - Inhibit time: Minimum
time between two transmissions;
Unit = 1 Μs
04 hex Read/write Unsigned8 — Transmit PDO3 - Reserved
05 hex Read/write Unsigned16 1000 Transmit PDO3 - Event timer: In
asynchronous mode, this object sets
a minimum rate of transmission for this
PDO;
Unit = 1 ms
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