Firmware
≤
11.00 - DMS 8.0 EN - 10/2011
L
493
8400 StateLine C | Reference manual
System bus "CAN on board"
Implemented CANopen objects
I-1800
Communication parameter for sending process data via TPDO1
[10-15] Data telegram assignment
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
Index:
I-1800
Name:
TPDO1 communication parameter
Subindex
Default setting
Setting range (min. value | unit | max. value)
Access
Data type
0: Highest subindex supported
5
- (read access only)
ro
U8
1: COB-ID used by TPDO
0x180 + node ID
0
4294967295 rw
U32
2: Transmission type
254
0
255 rw
U8
3: Inhibit time
0 ms
0
0.1 ms
65535 rw
U16
4: Reserved
-
- (reserved, read or write access leads to error message
0x06090011)
rw
U8
5: Event timer
0 ms
0
ms
65535 rw
U16
Subindex
Meaning
Code
0
"5" is permanently set.
• Max. 5 subindices are supported.
-
1
TPDO1 identifier
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x180 + node ID
C00354/2
2
TPDO transmission type according to DS301 V4.02
Transmission type
(
451)
C00322/1
3
Minimum time between sending two identical TPDOs
(see DS301 V4.02).
C00324/2
5
Cycle time for PDO transmission with transmission type
"254".
C00356/5
C00369
8th byte
7th byte
6th byte
5th byte
Data 4
Data 3
Data 2
Data 1
Bit 31
Bit 30
Bit 29 ... bit 11
Bit 10 ... bit 0
0/1
0/1
Extended identifier*
11-bit identifier
* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
Bit
Setting
Bit 30
0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (not adjustable)
Bit 31
0 PDO active
1 PDO inactive
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