Eaton Moeller SmartWire-Darwin EU5C-SWD-CAN, Аппаратное обеспечение и инженерия

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Programming
74
02/09 AWB2723-1612en
PDO communication
A maximum of 16 reception PDOs and 16 transmission PDOs
are supported. A maximum of 128 bytes are therefore
available in each communication direction for utility data
interchange.
Only the four default RX PDOs and the four default TX PDOs
are active in basic state (after a reset of the gateway). If
further PDOs are needed for transfer, PDOs 5 to 16 can be
activated by the user.
Ensure that the COB-IDs of the activated PDOs do not collide
with the other CANopen slaves in the same network. The
addresses of the individual PDOs are derived as follows:
PDO 1 - 4: address = standard offset
PDO 5 - 8: address = standard 64
PDO 9 - 12: address = standard 96
PDO 13 - 16: address = standard 32
Accordingly only node IDs in the range 1 to 32 should be
used for the gateway.
PDO assignment
As standard byte variables in PDOs 1 to 8 and word variables
in PDOs 9 to 16 are mapped. Accordingly process data
memory for 64 byte variables and 32 word variables at a
time are available without adapting the default mapping, .
The PDO mapping can be randomly changed by the user.
SDO communication
The simple SDO server connection is supported (expedited
SDO server).