Anybus CompactCom 30, Сетевое руководство

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Basic Operation 11 (36)
• RPDO Default COB IDs
RPDO no. Default COB ID Default Transmission Type Description
1 200h + Node ID 254 Default enabled according to
DS301
2 300h + Node ID
3 400h + Node ID
4 500h + Node ID
5...36 8000 0580h Default Disabled
• TPDO Default COB IDs
TPDO no. Default COB ID Default Transmission Type Description
1 180h + Node ID 254 Default enabled according to
DS301
2 280h + Node ID
3 380h + Node ID
4 480h + Node ID
5...36 8000 0500h Default Disabled
If no ADIs have been mapped to Process Data, the RPDOs will be mapped to a dummy object
entry (0005h) and the TPDOs will be mapped to object 1001h (Error Register).
When using the default PDO mapping scheme, only the first element of an array will be repre-
sented cyclically. There is however no such limitation if creating a custom PDO mapping
scheme through the bus configuration tool.
Alternative/New PDO Mapping Scheme
The difference between this alternative behavior and the default behavior is that the module will
try to use all available mapped ADIs or elements of an ADI to prepare all required PDOs. This
scheme will try to map each ADI or element of and ADI in the same order as they are mapped
to the process data. A maximum of 8 TPDOs and 8 RPDOs will be used for this mapping
scheme. If an ADI (simple variable) or element of an ADI (array) is mapped and does not fit
completely within a PDO, this ADI or element of an ADI will be moved to the next available
PDO, as long as there are PDOs available. This can lead to that the 8 available default PDOs
are not fully utilized or not sufficient for the theoretical maximum size of 64 bytes of process
data.
This scheme is due to that it is not possible to divide an ADI (simple variable) or an element of
an ADI (array) into two different PDOs, causing data inconsistency over the CANopen network
and making it impossible to use for any other CANopen node on the network, with the current
PDO mapping possibilities available for CANopen.
• RPDO Default COB IDs (Alternative/New)
RPDO No Default COB ID Default
Transmis-
sion Type Description
Node ID 1.. 63 Node ID >= 64
1 200h + Node-ID. 200h + Node-ID. 254 Default enabled according to
DS301.
2 300h + Node-ID. 300h + Node-ID. 254 Default enabled according to
DS301.
3 400h + Node-ID. 400h + Node-ID. 254 Default enabled according to
DS301.
4 500h + Node-ID. 500h + Node-ID. 254 Default enabled according to
DS301.
5 0x240 + Node ID 0x80000580 254 Dependant on Node ID the
RPDO will be enabled or not.
(If the PDO is required for
transferring the mapped ADI as
READ process data.)
6 0x340 + Node ID 0x80000580 254
7 0x440 + Node ID 0x80000580 254
8 0x540 + Node ID 0x80000580 254
9-36 0x80000580 0x80000580 254 Default disabled
Anybus ® CompactCom
™
30 Network Guide HMSI-168-78 EN 4.1