3.1.9.1.28 0x1803 Transmit PDO4 parameter
Indicates the communication parameters for the TPDO 4.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
COB-ID used by
PDO
0x1803:1
UDINT
32
2147484800
readwrite
The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only
the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or
communication is restarted.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Transmission
type
0x1803:2
USINT
8
1
readwrite
A number is stored in this subindex that defines the time at which the data are to be copied into the PDO
message and when this is to be sent.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Inhibit time
0x1803:3
UINT
16
1000
readwrite
This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending
of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
reserved
0x1803:4
USINT
8
0
readwrite
This subindex has no function and exists only for compatibility reasons.
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Event timer
0x1803:5
UINT
16
0
readwrite
This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of
the PDO.
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