Objects 0x1a00 - 0x1a03: transmit pdo mapping, Objects 0x1a00 - 0x1a03: transmit pdo mapping -25 – ElmoMC CANopen DS 301 Implementation Guide User Manual

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COB ID used by PDO
Only the default COB and specific Node ID can be written to the drive. An attempt to
write another COB ID will result in an abort (Abort Code 0609 0030h).

Event time:
When a TPDO transmission type is 254 or 255, an event time can be used. The event
occurs when the time is elapsed. The event time elapse is a multiple of 1 millisecond
of sub-index 5. It causes the transmission of this PDO in addition to other
asynchronous events. The occurrence of an event sets the timer again. A value of 0
disables this function. The transmission of the TPDO has an accuracy with 2
milliseconds.

Inhibit time:
Inhibit time specifications do not relate to the generating event but to the transmission of
the TPDO. The inhibit time resolution is 100 microseconds. The exact inhibit times are not
very accurate and can actually be up to 2 milliseconds (20 units of inhibit time) longer
than defined by sub-index 3 of this object. For example, if an inhibit time is specified as 10
milliseconds, its actual inhibit time length may vary in the range of [10…12] milliseconds.
Inhibit time restrictions are explained in

section

2.4

Objects 0x1A00 - 0x1A03: Transmit PDO mapping
These objects contain the mapping for the PDOs that the Elmo drive is able to transmit.
Sub-index 0h contains the number of valid entries within the mapping record. This
number of entries is also the number of the application variables that are transmitted
with the corresponding PDO.

For more information about the PDO mapping method, refer to

objects 0x1600 - 0x1603

Object description:

Index 1A00h

1A03h

Name Transmit

PDO

mapping

Object code

RECORD

Data type

PDO Mapping (object 0x21)