Kollmorgen S300

5.3.2 Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the servo amplifier:
configuration of the communication (Objects 1800-1803h)
configuration of the PDO-contents (mapping, Objects 1A00-1A03h)
5.3.2.1 Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301)
Index 1800h, 1801h, 1802h, 1803h for TxPDO 1 to 4.
Name transmit PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access ro
PDO Mapping not possible
Value Range 5
Default Value 5
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access rw
PDO Mapping not possible
Value Range UNSIGNED32
Default Value Index 1800h: 40000180h + Node-ID
Index 1801h: 40000280h + Node-ID
Index 1802h: 40000380h + Node-ID
Index 1803h: 40000480h + Node-ID
Subindex 2
Name transmission type
Category mandatory
Access rw
PDO Mapping not possible
Value Range UNSIGNED8
Default Value FFh
Subindex 3
Name inhibit time
Category optional
Access rw
PDO Mapping not possible
Value Range UNSIGNED16 (n*1/10ms)
Default Value 0h
S300-S700 CANopen | 5 CANopen Drive Profile
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