2
0
1
6
-0
9
50
Operation and communication
Communication Parameter 4 TxPDO
Communication Parameter 5 TxPDO
COB ID: Bit
31
30
29 ... 11
10 ... 0
PDO present:
0 = currently present
1 = not present
RTR access:
0 = permitted
1 = not permitted
...
CAN identifier
1
1.Cannot be changed when PDO is currently present
Index
Subindex
Description
Data type
Attribute
PDO mapping
possible
Default value
0x1803
0
Number of
Subsequent
Parameters
unsigned8
ro
no
5
1
COB ID
unsigned32
rw
no
0x00
Node ID
2
Transmission
Type
unsigned8
rw
no
254
3
Repeat delay
[value x
100
µ
s]
unsigned16
rw
no
0
4
Not used
5
Event Timer
unsigned16
rw
no
0
COB ID: Bit
31
30
29 ... 11
10 ... 0
PDO present:
0 = currently present
1 = not present
RTR access:
0 = permitted
1 = not permitted
...
CAN identifier
1
1.Cannot be changed when PDO is currently present
Index
Subindex
Description
Data type
Attribute
PDO mapping
possible
Default value
0x1804
0
Number of
Subsequent
Parameters
unsigned8
ro
no
5
1
COB ID
unsigned32
rw
no
0x80000000
2
Transmission
Type
unsigned8
rw
no
254
3
Repeat delay
[value x
100
µ
s]
unsigned16
rw
no
0
4
Not used
5
Event Timer
unsigned16
rw
no
0