162 Appendix A – Dictionary structure and entriesDescription of transmission typeDescription of PDO COB-ID entryTrans-missiontypePDO transmissionCyclic Acyclic Synchro-nousAsyn-chronousRTR only0 X X1...240 X X241...251 Reserved252 X X253 X X2541) X2552) X1) The transmission of the PDO is initiated by a manufacturer-specific event on thedevice.2) The transmission of the PDO is initiated by a device profile specified event on thedevice.Bit Value Description31 0 PDO valid1 PDO not valid30 0 RTR allowed on this PDO1 No RTR allowed on this PDO29 0 11-bit ID is used (CAN 2.0A).1)1 29-bit ID is used (CAN 2.0B).2)28...11 0 If 11-bit ID is used, bits 28...11 = 0.x 29-bit COB-ID not supported.10…0 x COB-ID1) Recommended2) Not supported
