ESD C.3030.02, Manual

Page: 46 / 103

CANopen-Firmware
Manual • Doc.-No.: C.3030.21 / Rev. 1.4
CAN-CBX-AI420 Page 46 of 103
7.6 Default PDO-Assignment
PDOs (Process Data Objects) are used to transmit process data. The PDO mapping can be changed. The
following tables show the default mapping at delivery of the module:
PDO CAN identifier Length Transmission direction Default assignment
TPDO1 n.a. n.a. n.a. TPDO1 is not used
TPDO2 280
h
+ Node-ID 8 byte
from CAN-CBX-AI420
(Transmit-PDO)
A/D-values channel 1 to 2
as 32-bit values
TPDO3 380
h
+ Node-ID 8 byte
from CAN-CBX-AI420
(Transmit-PDO)
A/D-values channel 3 to 4
as 32 bit values
TPDO2 (CAN-CBX-AI420 ->)
CAN-Identifier: 280
h
+ Node-ID
Byte
0 1 2 3 4 5 6 7
Parameter Read_Analog_Input_32-Bit_1 Read_Analog_Input_32-Bit_2
TPDO3 (CAN-CBX-AI420 ->)
CAN-Identifier: 380
h
+ Node-ID
Byte
0 1 2 3 4 5 6 7
Parameter Read_Analog_Input_32-Bit_3 Read_Analog_Input_32-Bit_4
Parameter description:
Name Description Data type
see
page
Read_Analog_Input_ 32-Bit_x
Reading of the analog output x (x = 1-4)
see object 6402
h
integer 32 81