DOC-0017-06-EN: AC20 Series CANopen Option
DOC-0017-06-EN-B
04.04.2023
45 (47
)
RPDO Default COB IDs
RPDO no.
Default COB ID
Default Transmission
Type
Description
1
200h + Node ID
254
Default enabled according to DS301, if the
mapping scheme requires this PDO
2
300h + Node ID
3
400h + Node ID
4
500h + Node ID
5...64
000h
Default disabled
TPDO Default COB IDs
TPDO
no.
Default COB ID
Default Transmission
Type
Description
1
400 Node ID
254
Default enabled according to DS301, if the
mapping scheme requires this PDO Please note
that the RTR bit is always set
2
400 Node ID
3
400 Node ID
4
400 Node ID
5...64
000h
Default Disabled
Must be configured by the configuration tool to
be usable
PDO Transmission Types
Transmission
Type
Description
RxPDO
TxPDO
254/255
Event driven
Data from RxPDO is copied to correct
offset in the read process data buffer.
The entire read process data buffer is
then sent to the host application
immediately.
All event driven TxPDOs are
sent immediately when the
host application sends new
write process data to the
module (unless inhibited by
inhibit timer).
0
Acyclic Synchronous
Data from RxPDO is copied to correct
offset in the read process data buffer.
The entire read process data buffer is
sent to the host application on the
next received SYNC.
TxPDOs with transmission
type 0 is sent on every
received SYNC.
1...240
Cyclic Synchronous
Data from RxPDO is copied to correct
offset in the read process data buffer.
The entire read process data buffer is
sent to the host application on the
next received SYNC.
TxPDOs with transmission
type 1-240 are sent on every
n:th received SYNC, where n
is the configured transmission
type.
254/255 with
event
timer configured
for the
PDO
Timer driven
Event timer is not supported for
RxPDO
All timer driven TxPDOs are
sent immediately when the
host application sends new
write process data to the
module or when the event
timer expires.
