Baumer CiA DS-301 Manual page 13

Cyclical (asynchronous)
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h /
1801h Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object Subindex 5.
The entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The
function is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.
Overview
In the following table, the different transmission modes for PDOs are summarized:
1800h
2800h
Sub2 Sub5
FEh 3ms
FEh 5ms
FEh 0ms
FEh 0ms
3 xxx
3 xxx
PDO (Position)
PDO1 telegram structure:
ID DLC Byte 1
181h 4 xx
ID : 180h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments
PDO2 telegram structure:
ID DLC Byte 1
281h 4 xx
ID : 280h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments
BUDE_Manual-CANopen_EN.doc
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0 Cyclical transmission every 3 ms
2 Every 5 ms, the PDO is sent twice if there is a change
0 Transmit PDO switched off
xxx Transmit PDO switched off
0 Transmit with every third sync telegram
2Bh On every third sync telegram, but only 43 times in total (=2Bh).
Byte 2 Byte 3
xx xx
Byte 2 Byte 3
xx xx
Summarized description
Byte 4
xx
Byte 4
xx
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