Danaher Motion 07/06 Objects
M-S2-021-11 Initial Release 53
Subindex 5
Name
event timer
Category
optional
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED16 (0=not used, n*1/10ms)
Default Value
0h
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit-Number Value Meaning
31 0 PDO exists / is valid
1 PDO does not exist / is not valid
30 0 RTR allowed on this PDO, not supported
1 RTR not allowed on this PDO, not supported
29 0 11 bit-ID (CAN 2.0A)
1 29 bit-ID (CAN 2.0B), not supported
28 .. 11 X Identifier-bits with 29 bit-ID, not relevant
10 .. 0 X Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
— a value of FFh or 255 for an event-triggered PDO, which is sent immediately after a change
in the mapped application objects. Setting of sub-index 3 or 5 has an influence on the sending
of a PDO. With sub-index 3 you can configure, in which minimal time the so configured
Transmit-PDOs are sent, if PDO-data contents change (reduction of bus-load). With sub-
index 5 (event time) a timer is used, which is resetted with every event-triggered sending of
this PDO. If there is no change of the PDO-content in this time, the PDO is sent caused by
this timer event.
— values from 0 to 240 cause a SYNC-Telegram controlled sending of the PDO. Values of 1 to
240 define how often the SYNC-telegram leads to a sending of a PDO. The value 0 means,
that only the next SYNC-telegram leads to a sending of the so configured PDOs.
