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CANopen communication
Process data transfer (PDO transfer)
Objects for PDO parameterisation
5
l
26
KHB 13.0002−EN 4.1
5.3.3 Objects for PDO parameterisation
Two transmit PDOs (TPDO) and two receive PDOs (RPDO) are available in the drive
controller. The different objects of the PDOs are identical.
1. Transmit PDO
Index Name Possible settings
Characteristics
Lenze Selection Description
1800
h
Transmit PDO1
Communication
Parameter
0 number_of_entries
00
h
{1
h
} 04
h
REC UINT8 RO 
Maximum number of
supported subindexes.
03
h
3 subindexes are supported.
1 COB−ID_used_by_
PDO
00000181
h
00000181
h
{1
h
} 000001FF
h
 UINT32 RW 
Identifier of transmit PDO1,
(180
h
+ node address).
For processing, bits 30 and
31 must be set
(parameterisation of
mapping).
Bit no. Value
0 − 10 x 11−bit identifier
11 − 28 0
The extended identifier
(bit 29) is not supported.
Each bit of this range must
be "0".
29 0
30 1 RTR of this PDO is not
permitted (unadjustable).
31
0 PDO is active
1 PDO is inactive
2 transmission_type 255
0 {1} 240, 254, 255 
UINT8 RW 
Setting of the transmission
mode
0 Function is switched off
n = 1 ... 240 By entering a value n, this
PDO is accepted with every
n−th sync.
n = 254, 255 Event−controlled
transmission mode
3 inhibit_time 0
0 {0.1 ms} 65535 
UINT16 RW 
Setting of the minimum
delay time between two
PDOs. The time can only be
changed if the PDO is not
active (subindex 1, bit 31 = 1)