Helmholz CAN 300 PRO, Руководство для стартапов

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5 Assignment of the Process Data
If the CAN 300 PRO has been able to detect the device on the
CAN bus, the next step is to assign the process data of the device
(PDOs) to the PLC.
There are up to 8 transmit PDOs (TPDO) and 8 receive PDOs
(RPDO). Transmit PDOs are transmitted from the device to the
CAN 300 PRO; receive PDOs are received by the device. Each PDO
has up to 8 data bytes. The assignment of the PDOs to the PLC
memory is defined on each slave in the CANParam software.
Manual: Section 6.4.5
The content of the PDOs is usually preset in the CANopen
®
slave
device, but can be modified as required. You can find out which
data are located where in which PDO either from the device
manual or with the “Show the slave mapping” read-out function
in the “Online / CANopen
®
Tools” menu.
In this case, the device has 4 RPDOs and 4 TPDOs.
The first receive-PDO (RPDO1) is linked with the service data
object (SDO) 0x6040 and is 2 bytes (1 word) long. The RPDO2 is
also linked with the SDO 0x6040 and the SDO 0x6060 and is 3
bytes (1 word + 1 byte) long.
These assignments are called “PDO Mapping.” A preset PDO
mapping is usual for CANopen
®
devices. If your device does not
have a preset PDO mapping, it is up to you to fill the PDOs with
SDOs that you require.
The PDO mapping must be made known to the CAN 300 PRO in
the project for the slave.
20 Start-up Guide CAN 300 PRO