Siko AG06 - Th Transmit PDO Parameter

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 88 of 114
Data description sub-index 02
h
:
0
synchronous: acyclic, PDO is sent after each SYNC message.
1 ... 240
synchronous: cyclic, PDO is sent after 1 … 240 SYNC messages received.
241 ... 251
reserved
252
reserved
253
asynchronous: only on request (RTR frame). PDO is sent immediately after
receipt of the RTR frame.
Notice! Must have been enabled via bit 30 of sub-index 1.
254
asynchronous: Event-triggered (with every change of a mapped object and
time-controlled).
255
asynchronous: time-triggered
PDO mapping:
See object 1A02
h
(3
rd
transmit PDO mapping parameter).
Inhibit Time:
A send-inhibit time is specified by the 'Inhibit Time' parameter (only for transmitt type 254).
Resolution is a multiple of 100 µs. The actual send-inhibit time is inaccurate and can deviate
from the set value by several milliseconds.
Event Timer:
The 'Event Timer' parameter serves for setting a cycle time (in milliseconds) for time-triggered
transfer of the Transmit PDO3. The actual cycle time is inaccurate and can deviate from the
set value by several milliseconds.
Processing of PDOs:
Transmit PDOs are transferred in the NMT status 'OPERATIONAL' only.
Changing PDO parameters:
PDO parameters can be changed in the NMT status 'PRE-OPERATIONAL' only.
9.13.2.26 1803
h
: 4
th
Transmit PDO Parameter
The communication parameters of the fourth Transmit PDO (TPDO4) are set via object 1803
h
.
Sub-index
00
h
Description
largest sub-index supported
Access
read-only
PDO mapping
no
Data type
Unsigned8
Default
5
EEPROM
no