HMS Anybus X-gateway CANopen, Руководство пользователя

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CANopen Module Specification 38 (60)
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 number and length of PDOs in a device are node specific and have to be configured
by the CANopen configuration 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 PDO mapping can be changed during configuration.
See also Manufacturer Specific Objects, p. 52 .
Default PDO Mapping Scheme
The default mapping scheme contains 4 TPDOs and 4 RPDOs.
RPDO Default COB ID Mapped to Relating to Default State
1 200h + NodeID Object index 2100h, subindex 1–8 Receive bytes 2–9
Enabled
2
300h + NodeID Object index 2100h, subindex 9–16 Receive bytes 10–17
3
400h + NodeID Object index 2100h, subindex 17–24 Receive bytes 18–25
4 500h + NodeID 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
Default COB IDs Mapped to Relating to Default State
1 180h + NodeID Object index 2000h, subindex 1–8 Transmit bytes 2–9
Enabled
2
280h + NodeID Object index 2000h, subindex 9–16 Transmit bytes 10–17
3
380h + NodeID Object index 2000h, subindex 17–24 Transmit bytes 18–25
4 480h + NodeID 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
Anybus ® X-gateway ™ CANopen ® PROFINET ® IRT (2.32) User Manual
SCM-1202-029 1.2 en-US