Mitsubishi Electric MELSEC iQ-R Series User Manual page 90

TPDO details window
This window is used for setting detailed parameters for the TPDO.
[Navigator]  [CANopen Configuration]  Node name  [Transmit PDO]  [PDO 1] (When the PDO number is 1)
Item
PDO number
Transmission type
Inhibit time
Event timer
*1 A PDO is sent after a SYNC message is generated. However, it is acyclic and sent only when an event occurs before SYNC message
generation.
■COB-ID
Set the details of the COB-ID set in the PDO list window.
Item
valid
CAN-ID(11-bit)
3 CANopen Configuration Tool
88
3.1 Window Structure
Description
Set the number for identifying the PDO.
Set the TPDO transmission type.
*1
• 0x00: Synchronous (acyclic)
• 0x01: Synchronous (Send data every time a SYNC message is received.)
• 0x02: Synchronous (Send data when a SYNC message is received once.)
• 0x03: Synchronous (Send data when SYNC messages are received twice.)

• 0xF0: Synchronous (Send data when SYNC messages are received 239
times.)
• 0xF1 to 0xFD: System-reserved
• 0xFE: Event-driven
• 0xFF: Event-driven
Set the minimum time interval between PDO transmissions. (Unit: 100s)
To disable this item, set 0.
Set the event timer. (Unit: ms)
When a data exchange is not executed by the time the event timer times out, a
message containing the current value for the object dictionary will be sent.
To disable this item, set 0.
Description
• Selected: The PDO is valid.
• Cleared: The PDO is not valid.
Set the CAN-ID for the COB-ID.
• TPDO1: 0x181 to 0x1FF
• TPDO2: 0x281 to 0x2FF
• TPDO3: 0x381 to 0x3FF
• TPDO4: 0x481 to 0x4FF
Setting range
1 to 256
(Default: 1)
0x00 to 0xFF
(Default: 0xFE)
0 to 65535
(Default: 0)
0 to 65535
(Default: 0)
Setting range
• Not selected
• Selected
(Default: Not selected)
0x000 to 0x57F
(Default: 0x181 (When the node ID is 1))