S300-S700 CANopen | 5 îîCANopen Drive Profile
Subindex 4
Name reserved
Category optional
Access rw
PDO Mapping not possible
Value Range 0
Default Value 0
Subindex 5
Name event timer
Category optional
Access rw
PDO Mapping not possible
Value Range UNSIGNED16 (0=not used, n*1/10ms)
Default Value 0h
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit 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, because
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 to 11
X Identifier-bits with 29 bit-ID, not relevant
0 If bit 29=0
10 to 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 FFh 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 0 to 240 cause 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.
54 Kollmorgen | kdn.kollmorgen.com | December 2019
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