Beckhoff CX-B510 Series, Manual

Page: 39 / 81

TwinCAT tabs
CXxxxx-M510/B510 39 Version: 1.0
4.3.3 PDO
This tab appears if you click on a process data object (PDO) in the tree view.
Process Data Objects (PDOs) are CAN telegrams which transport process data without a protocol overhead.
• RxPDOs are received by the device.
• TxPDOs are sent by the device.
A device sends its input data with TxPDOs and receives the output data in the RxPDOs. This designation is
retained in TwinCAT.
1
2
3
4
5
No. Description
1 CAN identifier of the PDO. For two send and receive PDOs per node,
CANopen provides Default Identifiers. These can then be changed.
2 The Transmission Type determines the send behavior of the PDO. 255
corresponds to the event-driven sending (see:
Setting the transmission type
[
}
65] ).
3 The length of the PDO depends on the created variables and can therefore
not be edited here.
4 Enter the value for the Event Timer in ms. For send PDOs (RxPDOs), PDOs
are sent again after a timer has elapsed. For receive PDOs (TxPDOs), the
arrived PDOs are monitored, and the box state of the node may be
modified.
TwinCAT creates corresponding inputs in the node object directory on the
basis of the parameters entered here. These are transferred via SDO at the
system start. The entries can be viewed in the SDO tab (see:
SDOs [ } 38] ).
This function can be deactivated via the checkbox Automatic PDO
Parameter Download on the CAN node tab (see: CAN node [
}
36] ).
5 The PDO length check can be disabled here.