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85201A_RK5C_User Manual_02-2017_ENG
Sub-index 5 contains the event-timer. The time is the maximum interval for PDO transmission if the transmission type is
set to FEh and FFh. Its value is given in multiples of 1 ms. The value of 0 disables the event-timer (no PDO is transmitted).
Object description
Index
Name
1800h
TPDO1 communication parameter
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Highest sub-index
supported
RO
Unsigned8
5
5
1
COB-ID used by
TPDO1
RW
Unsigned32
Unsigned32 (*)
000
Node-ID
2
Transmission type
RW
Unsigned8
0..240
and
252..255
254
5
Event-timer
RW
Unsigned16
0000h..FFFFh
0001h
(*) The 11-bit CAN-ID of the COB-ID must be compliant to the restricted CAN-ID definitions (see Restricted
CAN-ID section). A restricted CAN-ID cannot be used.
1A00h – TPDO1 mapping parameter
This object contains the mapping for the PDOs the device is able to transmit. Sub-index 1 and sub-index 2 contain the
information of the mapped application objects.
The object describes the content of the PDO by their index, sub-index and length, as specified in the following figure.
31
16 15
8 7
0
Index
Sub-index
Length
Figure 39 - Structure of TPDO1 mapping
The value definition is given in the following table.
Field name
Description
Index
The content of the PDO described by the index
Sub-index
The content of the PDO described by the sub-index
Length
The length of the application object in bit
Table 9 - TPDO1 mapping fields
Object description
Index
Name
1A00h
TPDO1 mapping parameter
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Number of mapped application
objects in TPDO1
RO
Unsigned8
2
2
1
1st application object (position)
RW
Unsigned32
60200120h
60200120h
2
2nd application object (speed)
RW
Unsigned32
60300110h
60300110h