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11/20/2018
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Sub-index 3 contains the inhibit time for the TPDO. The time is the minimum interval
for PDO transmission if the transmission type is set to FEh. The value is defined as
multiple of 100 µs. The value of 0 disables the inhibit time.
The value must not be changed while the PDO exists (bit 31 of sub-index 1 is set to 0)
Sub-index 4 is not supported.
Sub-index 5 contains the event-timer. The time is the maximum interval for PDO
transmission if the transmission type is set to FEh. The value is defined as multiple of
1 ms. The value of 0 disables the event-timer.
The event-timer sub-index 5 of the communication parameter 1800h is hard-wired with
Object 6200h: Cyclic timer. That means that a change in the event timer causes a
change in the cyclic timer and vice versa.
The communication parameter 1801h exclusively uses its own timer, access over sub-
index 5.
6.2 Structure of the objects, 1A00h-1A01h
Sub-index 0 contains the number of valid object entries. The value of 0 disables the
respective object.
Sub-index 1 contains the position value. The object describes the content of the PDO
by his index, sub-index and length in bit:
31
16 15
8 7
0
Index
Sub-index
Length in bit
MSB
LSB
