CANopen
• 115
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.4.2.21
Object 0x1800– 0x181F, Transmit PDO Communication Parameter
Idx
S-Idx
Name
Type
Attribute
Default Value
0x1800 to
0x181F
0 Max.
supported
Entries
Unsigned8 RO
5
1
COB-ID
Unsigned32
RW
Idx 0x1800 0x180+Module-ID
Idx 0x1801 0x280+Module-ID
Idx 0x1802 0x380+Module-ID
Idx 0x1803 Module-ID
Idx 0x1804-181F 0x80000000
2
Transmission
type
Unsigned8
RW
255
3
Inhibit Time
Unsigned16
RW
Idx 0x1800 0
Idx 0x1801 – 181F 100
4
Reserved Unsigned8
RW
0
5
Event
Timer
Unsigned16
RW
0
This object is used to set the communication parameters of the TxPDOs. 32
TxPDOs are supported. The default COB IDs of the first four PDOs are pre-
assigned according to the DS301 standard. All other PDOs are de-activated. If
not all default PDOs are used (i.e. a smaller number of modules is connected),
also the default PDOs not used are de-activated.
Inhibit Time shows the min. time between two consecutive PDOs having the
same COB ID. One time unit is 100us. The transmitted value is internally
rounded to the next smaller milli-second.
If a new value is to be entered, the COB ID has to be set invalid (Bit 31 = 1),
because the DS301 standard does not permit to enter a new time when the
COB ID (Bit31=0) is valid.
Example:
Min. time interval between two PDOs having the same COB
ID: 30ms.
Sub-index 3 = 300 = 0x12C
The Event Timer defines the time after the elapse of which a PDO is sent,
even if no change of the PDO data has occurred. Enter the time in milli-
seconds. The timer is re-started whenever an event occurs (change to the PDO
data).
If the time is shorter than the inhibit time, a new event is generated once the
inhibit time has elapsed!
Attention
The event timer can only be used for the transmission types 254/255.
Attention
An object entry can only be mapped in a
max. of 3 different
PDOs.
