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User Manual OPC UA Server / CANopen
Document code: MN67B34_ENG Revision 1.000 Page 22 of 29
SET PDO ACCESS:
By pressing the “
Set PDO Access ” button from the main window for SW67B34 (Fig. 2) the window “Set PDO Access” appears (Fig. 7a and
7b).
This window is used to create the Receive and the Transmit PDOs in the CANopen side and to indicate which bytes of internal memory array
are associated to these PDOs.
It is divided in two parts, the "Receive PDO" and the
"Transmit PDO". The first part is used to receive PDO
from the CANopen network and copy the data in the
internal memory array. The second part is used to
transmit PDO in the CANopen network with the data of
internal memory array.
The meaning of the columns in the “Receive PDO” are:
In the field " Cob-ID " the COB-ID for the PDO is
defined;
In the field " Dimension " the dimension of the
PDO is defined (it can be between 1 and 8
bytes);
In the field " Add B1 " the byte of the internal memory array where coping the 1
st
byte of the RPDO is defined;
In the field " Add B2 " the byte of the internal memory array where coping the 2
nd
byte of the RPDO is defined;
In the field " Add B3 " the byte of the internal memory array where coping the 3
rd
byte of the RPDO is defined;
In the field " Add B4 " the byte of the internal memory array where coping the 4
th
byte of the RPDO is defined;
In the field " Add B5 " the byte of the internal memory array where coping the 5
th
byte of the RPDO is defined;
In the field " Add B6 " the byte of the internal memory array where coping the 6
th
byte of the RPDO is defined;
In the field " Add B7 " the byte of the internal memory array where coping the 7
th
byte of the RPDO is defined;
In the field " Add B8 " the byte of the internal memory array where coping the 8
th
byte of the RPDO is defined;
In the field “ TimeOut ” the timeout is defined. It is used to put to 0 the data into the internal memory array if the PDO doesn’t arrive
in the defined time. If the value in this field is ‘0’, the function is not used;
In the field " Mnemonic " the description for the PDO is defined.
Figure 7a: “Set PDO Access – Receive PDO” window