SycoTec easyDrive 4624 - Transmit PDO Parameters and Mapping Objects; Object 0 X1800: Transmit PDO Communication Parameter; Object 0 X1 A00: Transmit PDO Mapping Parameter

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4.1.4 Transmit PDO Parameters and Mapping Objects
Object 0x1800 : Transmit PDO Communication Parameter
This object is used to set the communication parameters of the TPDO.
Before changing PDO parameters, the PDO must first be disabled. Set bit 31 of the COB-ID to 1 (ex.: COB-ID
to 0x80000181). The parameters can then be rewritten. The PDO is enabled by deleting bit 31 of the COB-ID
(ex.: COB-ID back to 0x0181).
Subindex 0 indicates the largest supported subindex.
Subindex 1 determines whether the TPDO in question is used and defines its COB-ID.
Subindex 2 defines the Transmission Type of the object.
Value
Description Transmission Type
254
Asynchronous (manufacturer specific): asynchronous transmission
255
Asynchronous (device profile specific): asynchronous transmission
The Transmission Type can only be changed in the NMT mode Pre-Op or Stopped!
Subindex 3 describes the blocking time of the PDO with a resolution of 100 µs. Within this time after the PDO
has been sent, the PDO will not be sent again. For event-driven PDO, the bus load can be reduced this way.
Subindex 4 is not used (reserved by CiA).
Subindex 5 contains the event timer of the PDO, which defines the time intervals for the cyclic transmission
of the PDO.
Index
(hex)
Name
Object type
Data type
Access
PDO
mapping
Default
1800
Transmit PDO
Communication
Parameter
Record
1800:00
Number of entries
Variable
Unsigned8
ro
no
5
1800:01
COB ID
Variable
Unsigned32
rw
no
Node-ID +
0x180
1800:02
Transmission Type
Variable
Unsigned8
rw
no
254
1800:03
Inhibit Time
Variable
Unsigned16
rw
no
0x0000
1800:04
Compatibility Entry
Variable
Unsigned8
rw
no
1800:05
Event Timer
Variable
Unsigned16
rw
no
1000
Object 0x1a00 : Transmit PDO Mapping Parameter
This object contains information about the data to be received within the respective TPDO.
Subindex 0 contains the number of valid mapping entries.
Subindex 1 contains the 1st mapping entry. Dummy objects can also be mapped. They serve as placeholders
in the PDO.
Subindex 2 contains the 2nd mapping entry. Dummy objects can also be mapped. They serve as placeholders
in the PDO.
Index
(hex)
Name
Object type
Data type
Access
PDO
mapping
Default
1a00
Transmit PDO
Mapping Parameter
Record
1a00:00
Number of entries
Variable
Unsigned8
const
no
2
1a00:01
PDO Mapping Entry
Variable
Unsigned32
const
no
0x60410010
1a00:02
Mapping Entry 2
Variable
Unsigned32
const
no
0x60440010