Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1800h.
1h COB-ID The COB ID is composed of 180h + node ID. It can be
changed in Pre-Operational Mode.
2h Transmission type Defines the transmission type.
3h Inhibit Time The “Inhibit Time” defines the minimum time that must
elapse between two successive calls of a PDO. The PDO must
first be deactivated for “Inhibit Time” parameterization see
"Dynamic mapping", page 83.
4h Compatibility Entry No function.
5h Event timer Asynchronous PDOs (transmission type FEh or FFh) are trig‐
gered by the “Event Timer”, among other things. This subin‐
dex defines the period of the “Event Timer” as a multiple
of milliseconds. If the value is 0, the asynchronous PDO is
deactivated and it is no longer sent.
6h Sync Start Value Specifies from which SYNC the PDO is to be sent.
The PDO must first be deactivated for a “Sync Start Value”
parameterization see "Dynamic mapping", page 83.
Object 1801h Transmit PDO Communication Parameter 2
Communication parameter for synchronous transmission of object 6004h, subindex 0h
(position)
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1801h.
1h COB-ID The COB ID is composed of 280h + node ID. It can be
changed in Pre-Operational Mode.
2h Transmission type Defines the transmission type.
Object 1804h Transmit PDO Communication Parameter 5
Communication parameters of the freely configurable PDO 5.
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1804h.
1h COB-ID The following COB IDs are not allowed:
0h: NMT
701h to 77Fh: NMT Error Control
The setting of these COB IDs is rejected with SDO-Abort mes‐
sage “6040043h (parameter incompatible).”
If you want to activate the TPDO5 although the mapping is
deactivated (1A04:00, Number of Entries = 0), the SDO abort
message “08000022h” is generated. According to specifica‐
tion CiA 301 (version 4.2, page 36, length of process data at
least 1), sending TPDOs that have no mapping entries is not
allowed.
2h Transmission type Defines the transmission type.
3h Inhibit Time The “Inhibit Time” defines the minimum time that must
elapse between two successive calls of a PDO.
4h Compatibility Entry No function.
10 CANOPEN INTERFACE
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O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice
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