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Communication manual 8400 motec CANopen

Implemented CANopen objects

104 L EDS84DMOTCAN EN 3.0 - 11/2011

I-1801 - TPDO2 communication parameter

Communication parameters for sending process data via TPDO2

For data telegram assignment and description of subindexes, see object I-1800

How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").

2. Change identifier.

3. Activate identifier (set bit 31 to "0").

Index:

I-1801

Name:

TPDO2 communication parameter

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0: Highest subindex supported 5 - (read access only) ro U8

1: COB-ID used by TPDO 0x280 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16

4: Reserved - - (reserved, read or write access results in error

message 0x06090011)

rw U8

5: Event timer 0 ms 0 ms 65535 rw U16

Subindex Meaning Code

0 The value 5 is permanently set.

• Max. 5 subindexesare supported.

1 TPDO2 identifier

• According to the "Predefined Connection Set", the

basic setting is: identifier = 0x280 + node ID

C00354/4

2 TPDO transmission type according to DS301 V4.02

Transmission type

( 52)

C00322/2

3 Minimum time between sending two identical TPDOs

(see DS301 V4.02).

5 Cycle time for PDO transmission with transmission type

"254".

C00356/2

C00369

1 2 ... 99 100 101 102 103 104 105 106 107 108 109 110 111

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