UK
ioControl
93
Transmit PDO communication parameters (index 0x1800…0x18FF):
Index
S-idx Designation
Data type
Default
Details
0x1800 0x00 Transmit
PDO Com-
munication
Parameter
Number of
entries
ro
USINT
0x05
Configuration transmit PDO 1
number of entries = 5
0x01 COBID used
by PDO
rw
UDINT
0x180 +
Node ID
CAN ID of the transmit PDO 1
Bit 31 = 0 → PDO is valid
Bit 31 = 1 → PDO is not valid
0x02 transmission
type
rw
USINT
0x01
0x00 = synch acyclic
0x01���0xF0 = synch cyclic; values
are only transmitted after „n" synch
objects
n = 1…240 = 0x01���0xF0
0xFC/0xFD not implemented
0xFE = asynch man� spec� event;
values are immediately transferred
0xFF = asynch device profile event;
values are immediately transferred
0x03 inhibit time
rw
UINT
0
delay time in the transmission
type "asynch" before the PDO is
transmitted again at the earliest�
(0���65535 • 100 µs)
0x04 reserved
rw
USINT
0
reserve
0x05 event time
rw
UINT
0
max� transfer break in the transmissi-
on type „asynch" (0���65535 ms)
When this time has elapsed, the PDO
is transferred even if the appl� event
has not accured�
