Woodward easYgen-3000XT Series, Manual, Page: 614 / 1205

0
1
2
4
bbbb
cccc
3
4
aaaa
dddd
PDO Mapping
aaaa
dddd
bbbb
Object 1
cccc
Object Dictionary
Object 2
Object 3
Object 4
Object 2
TPDO Message
Object 3 Object 1 Object 4
Fig. 203: TPDO mapping
CANopen allows to send 8 byte of data with each Transmit PDO. These may be defined
separately if no pre-defined data protocol is used.
All data protocol parameters with a parameter ID may be sent as an object with a
CANopen Transmit PDO.
The data length will be taken from the data byte column (see ╚═▷ “9.2 Data Protocols” ):
• 1,2 UNSIGNED16 or SIGNED16 •
• 3,4 UNSIGNED16 or SIGNED16
•
• 5,6 UNSIGNED16 or SIGNED16
•
• 1,2,3,4 UNSIGNED32 or SIGNED32
•
• 3,4,5,6 UNSIGNED32 or SIGNED32
•
• etc.
•
The object ID is identical with the parameter ID when configuring via front panel or
ToolKit.
Parameters ╚═▷ 9600 / ╚═▷ 9610 / ╚═▷ 9620 / ╚═▷ 9630 / ╚═▷ 12792 use communication
parameters that adhere to the following structure.
Bit number Value Meaning
31 (MSB) 0 PDO exists / is valid
614 easYgen-3000XT Series B37574
4 Configuration
4.7.4.1.3 Transmit PDO {x} (Process Data Object)
Released