First Transmit Pdo; Second Transmit Pdo - BONFIGLIOLI ACTIVE Manual

8.2.1.3
The first Transmit PDO is defined according to Transmit PDO No. 1 (DS402).
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In the default setting, the TxPDO1 is transmitted when a change in the contents of
the status word takes place. The object status word corresponds to the product-
internal status word.
The TxPDO1 can be deactivated by setting bit 31 (MSB) of the COB-ID in 1800/1.
There is then no transmission of the TxPDO1 (see DS301).
The transmission type cannot be altered.
Note:
8.2.1.4
The second transmit PDO is defined according to transmit PDO No. 6 (DS402).
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16
16

First Transmit PDO

1800 0 Number of entries
1 COB ID
2 Transmission type
3 Inhibit time
4 Reserved
5 Event time
1A00 0 Number of mapped objects
1 Status word
Event time and inhibit time (TxPDO1 and TxPDO2)
The event time is set in the unit milliseconds.
- If event time = 0, the TxPDO is transmitted when the contents of the
objects change.
- If event time ≠ 0, the TxPDO is transmitted at the interval of the set
event time AND when the contents of the objects change.
The inhibit time is set in integral multiples of 100 μs.
- The inhibit time is the minimum interval between the transmission of
the TxPDO.
The inhibit time must be set < event time!

Second Transmit PDO

1801 0 Number of entries
1 COB ID
2 Transmission type
3 Inhibit time
4 Reserved
5 Event time
1A01 0 Number of mapped objects
1 Status word
2 Control effort
Transmit-PDO No. 1
Meaning
Mapping Parameter
Meaning
Transmit-PDO No. 6
Meaning
Mapping Parameter
Meaning
Value
1
384 + Node ID
255
0
-
0
Value
1
6041 0010 (hex)
Value
1
640 + Node ID
255
500 (=50 ms)
--
1000 (=1000 ms
Value
2
6040 0010 (hex)
6044 0010 (hex)
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