0x1803 Transmit PDO4 parameter

Indicates the communication parameters for the TPDO 4.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
COB-ID used by PDO 0x1803:1 UDINT 32 80000481 readwrite

The COB-ID is stored here. For PDO mappings 1–4, the CAN-ID is fixed depending on the node-ID and only the valid bit (bit 31) can be set in the COB-ID. A COB-ID change does not take effect until the controller or communication is restarted.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Transmission type 0x1803:2 USINT 8 1 readwrite

A number is stored in this subindex that defines the time at which the data are to be copied into the PDO message and when this is to be sent.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Inhibit time 0x1803:3 UINT 16 1000 readwrite

This subindex contains a time lock in ms. This can be used to set a time that must elapse after the sending of a PDO before the PDO is sent another time. This time only applies for asynchronous PDOs. 

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
reserved 0x1803:4 USINT 8 0 readwrite

This subindex has no function and exists only for compatibility reasons.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Event timer 0x1803:5 UINT 16 0 readwrite

This time (in ms) can be used to trigger an Event which handles the copying of the data and the sending of the PDO.