HMS Anybus X-gateway CANopen Series, Руководство пользователя

Страница: 31 / 54

CANopen Module Specification 27
Doc.Id. SCM-1200-080
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
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. Number
and length of PDOs in a device are node specific and have to be configured by the CANopen configu-
ration 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 TPDO’s and 4 RPDO’s.
• RPDO
• TPDO
For more information on the mapping see “Vendor Specific Objects” on page 38
RPDO Transmission Types
The RPDOs can be received either in synchronous or asynchronous mode. A synchronization (SYNC)
object is transmitted periodically by a synchronization master. The data in synchronous RPDOs are not
transferred to the application until after the next SYNC object is received. Asynchronous RPDOs will
be transferred upon reception.
The transmission type parameter of a RPDO specifies the triggering mode.
RPDO no. Default COB IDs Mapped to... Relating to... Default State
1 200h + Node ID Object index 2100h, sub-index 1... 8 Receive bytes 2... 9 Enabled
2 300h + Node ID Object index 2100h, sub-index 9... 16 Receive bytes 10...17
3 400h + Node ID Object index 2100h, sub-index 17... 24 Receive bytes 18... 25
4 500h + Node ID Object index 2100h, sub-index 25... 32 Receive bytes 26... 33
5 80000000h Object index 2100h, sub-index 33... 40 Receive bytes 34... 41 Disabled
... ... ...
128 Object index 2103h, sub-index 121 ... 126 Receive bytes 506... 511
TPDO no. Default COB IDs Mapped to... Relating to... Default State
1 180h + Node ID Object index 2000h, sub-index 1... 8 Transmit bytes 2... 9 Enabled
2 280h + Node ID Object index 2000h, sub-index 9... 16 Transmit bytes 10... 17
3 380h + Node ID Object index 2000h, sub-index 17... 24 Transmit bytes 18... 25
4 480h + Node ID Object index 2000h, sub-index 25... 32 Transmit bytes 26... 33
5 80000000h Object index 2000h, sub-index 1... 8 Transmit bytes 34... 41 Disabled
... ... ...
128 Object index 2003h, sub-index 121 ... 126 Transmit bytes 506... 511
Transmission
type, RDPO
Mode RPDO transmission description
0 - 240 Synchronous A received RPDO is transferred to the application after a SYNC object is received.
241 - 253 - Reserved