HMS AB7307, Руководство пользователя

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CANopen Module Specification 29
Doc.Id. HMSI-168-91
Anybus X-gateway CANopen - PROFINET
Doc.Rev. 2.10
6.2.4 PDO Functionality
Real-time data transfer is performed by means of PDOs (Process Data Objects). The PDOs are linked
to entries in the Device Object Dictionary and provide the interface to the application objects. The num-
ber and length of PDOs in a device are node specific and have to be configured by the CANopen con-
figuration tool.
PDOs are used both for data transmission and reception, using so called Transmit-PDOs (TPDOs) and
Receive-PDOs (RPDOs). Each PDO corresponds to two entries in the Device Object Dictionary. The
PDO parameter object holds information on the COB-ID, the transmission type etc. On recognition of
the COB-ID the corresponding PDO mapping object can be identified, to make it possible to transmit/
receive data to/from the correct object in the device. The default settings for the mapping can be
changed during configuration.
Default PDO Mapping Scheme
The module features a simple default mapping scheme with 4 TPDOs and 4 RPDOs.
• RPDO
• TPDO
For more information on the mapping see “Vendor Specific Objects” on page 40
RPDO no. Default COB IDs Mapped to... Relating to... Default State
1 200h + Node ID Object index 2100h, subindex 1... 8 Receive bytes 2... 9 Enabled
2 300h + Node ID Object index 2100h, subindex 9... 16 Receive bytes 10...17
3 400h + Node ID Object index 2100h, subindex 17... 24 Receive bytes 18... 25
4 500h + Node ID Object index 2100h, subindex 25... 32 Receive bytes 26... 33
5 80000000h Object index 2100h, subindex 33... 40 Receive bytes 34... 41 Disabled
... ... ...
128 Object index 2103h, subindex 121 ... 126 Receive bytes 506... 511
TPDO no. Default COB IDs Mapped to... Relating to... Default State
1 180h + Node ID Object index 2000h, subindex 1... 8 Transmit bytes 2... 9 Enabled
2 280h + Node ID Object index 2000h, subindex 9... 16 Transmit bytes 10... 17
3 380h + Node ID Object index 2000h, subindex 17... 24 Transmit bytes 18... 25
4 480h + Node ID Object index 2000h, subindex 25... 32 Transmit bytes 26... 33
5 80000000h Object index 2000h, subindex 33... 40 Transmit bytes 34... 41 Disabled
... ... ...
128 Object index 2003h, subindex 121 ... 126 Transmit bytes 506... 511