WEG CFW-11 Communications Manual page 35

The sub-index 1 contains the transmit PDO COB-ID. Every time this PDO sends a message to the network, the
identifier of that message will be this COB-ID. The structure of this field is described in Table 5.5.
The sub-index 2 indicates the transmission type of this object, which follows the Table 5.6 description. Its working is
however different for transmit PDOs:
Value 0: indicates that the transmission must occur immediately after the reception of a SYNC telegram, but
not periodically.
Values 1 – 240: the PDO must be transmitted at each detected SYNC telegram (or multiple occurrences of
SYNC, according to the number chosen between 1 and 240).
Value 252: indicates that the message content must be updated (but not sent) after the reception of a SYNC
telegram. The transmission of the message must be done after the reception of a remote frame (RTR frame).
Value 253: the PDO must update and send a message as soon as it receives a remote frame.
Values 254: The object must be transmitted according to the timer programmed in sub-index 5.
Values 255: the object is transmitted automatically when the value of any of the objects mapped in this PDO is
changed. It works by changing the state (
transmitted according to the timer programmed in sub-index 5.
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Sub-index
Description
Access
Mappable
Range
Default value
Change of State
0
Number of the last sub-index
ro
No
UNSIGNED8
5
1
COB-ID used by the PDO
rw
No
UNSIGNED32
1800h: 180h + Node-ID
1801h: 280h + Node-ID
1802h: 380h + Node-ID
1803h: 480h + Node-ID
2
Type of transmission
rw
No
UNSIGNED8
254
3
Time between transmissions
rw
No
UNSIGNED16
-
4
Reserved
rw
No
UNSIGNED8
-
5
Event timer
rw
No
0 = disabled
UNSIGNED16
0
). This type does also allow that the PDO be