Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit-Number Value Meaning
31
0 PDO exists / is valid
1 PDO does not exist / is not valid
30
0 RTR allowed on this PDO, supported from Firmware 3.00
1
RTR not allowed on this PDO. This bit must be set from FW 3.00, be
-
cause RTR access to Tx-PDOs is generally not supported.
29
0 11 bit-ID (CAN 2.0A)
1 29 bit-ID (CAN 2.0B), not supported
28 .. 11 X Identifier-bits with 29 bit-ID, not relevant
10 .. 0 X Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
— a value of FF
h
or 255 for an event-triggered PDO, which is sent immediately after a
change in the mapped application objects. Setting of sub-index 3 or 5 has an influence on
the sending of a PDO. With sub-index 3 you can configure, in which minimal time the so
configured Transmit-PDOs are sent, if PDO-data contents change (reduction of bus-load).
With sub-index 5 (event time) a timer is used, which is resetted with every event-triggered
sending of this PDO. If there is no change of the PDO-content in this time, the PDO is sent
caused by this timer event.
— values from 0to240cause a SYNC-Telegram controlled sending of the PDO.
Values of 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO.
The value 0 means, that only the next SYNC-telegram leads to a sending of the so
configured PDOs.
4.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301)
Index 1A00
h
- 1A03
h
for TXPDO 1 .. 4
Name
transmit PDO mapping
Object Code
RECORD
Data Type
PDO Mapping
Category
mandatory
Subindex 0
Name
number of mapped application objects in PDO
Data type
UNSIGNED8
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
0: PDO is not active
1 - 8: PDO activated, mappings are taken only byte-wise
Default Value
PDO1: 1
PDO2: 2
PDO3: 2
PDO4: 2
Subindex 1 - 8
Name
PDO - mapping for the n-th application object
Category
Conditional, depends on number and size of object be mapped
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
See below
54 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen
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