SICK DL100 Pro CANopen - Page 75

Subindex Name Description
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” parameteri‐
zation see "Dynamic mapping", page 83.
Object 1805h Transmit PDO Communication Parameter 6
Communication parameters of the freely configurable PDO 6.
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1805h.
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 TPDO6 although the mapping is
deactivated (1A05:00, 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.
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 1A00h Transmit PDO Mapping Parameter 1
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1A00h.
1h Mapping Entry 1 Mapping according to CiA406 preassigned to object 6004h.
Modifiable in Pre-Operational Mode, see "Dynamic mapping",
page 83.
Object 1A01h Transmit PDO Mapping Parameter 2
Subindex Name Description
0h Number of Entries Specification of the number of subindices within the object
1A01h.
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
75
Subject to change without notice