18
8.9.3 Transmission mode
The transmission mode (sub-index 2) for Objects 1800 and 1801 can be
configured as described
Transmission
value (Dec)
Transmission mode
Note
Cyclic
Acyclic Synchronous Asynchronous RTR Only
0
x
x
Send PDO on first
sync message
following an event
1���240
x
x
Send PDO every x
sync messages
241���251
reserved
252
x
x
Receive Sync and
send PDO on remote
request
253
x
Update data and
send PDO on remote
request
254
x
Send PDO on event
255
x
Send PDO on event
8.9.4 Inhibit time
The inhibit time is the minimum interval for PDO transmission if the transmission
type is set to 254d (FEh) and 255d (FFh)� The value is defined as a multiple of 100
µs� The Inhibit Time cannot be changed while the respective PDO is in operation�
Calculation of inhibit time
The inhibit time sets the minimum time between two process values� The value is
defined as multiples of 100 µs�
Example
►
Set the inhibit timer (object 1800h/1801h) sub-index 3 to 1000d (03E8hex)�
►
Set the inhibit time to 100 ms (1000 x 100 µs)� It is not allowed to change the
inhibit time while the PDO exists�
Read Only: Slope Long16, Slope Lateral16, Slope Long16 Offset, Slope Lateral16
Offset, Slope Long32, Slope Lateral32, Slope Lateral32 Offset, Slope Lateral32
Offset�
8.9.5 Event timer
The event timer only works in asynchronous transmission mode (transmission
mode 254d and 255d)� The value is defined as a multiple of 1 ms� A transmit PDO
is sent after the Event Timer expires (for values > 0)�
The range is 1 – 65536 ms� The event timers of TPDO1 and TPDO2 are hard-
wired, i�e� if one timer is changed, the other one is adjusted accordingly�