Ci800_01a_oi_e.doc / Jul-17
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Transmit Data 2
As above, but for TPDO 2 (Transmit Process Data Object 2)
Transmit Data 3
As above, but for TPDO 3 (Transmit Process Data Object 3)
Transmit Data 4
As above, but for TPDO 4 (Transmit Process Data Object 4)
Receive Data 1
Mapping of the RPDO 1 (Receive Process Data Object 1):
Register number of the MC800 parameter that is received by TPDO 1.
See column “#” in MC800 firmware manual parameter tables for the required
number.
For unused PDOs please set the value to 0.
Example:
With Receive Data 1 = 579 the Bus Command Status (setting of commands via
fieldbus) is received by RPDO 1
Please see below for details of the PDO communication.
Receive Data 2
As above, but for RPDO 2 (Receive Process Data Object 2)
Receive Data 3
As above, but for RPDO 3 (Receive Process Data Object 3)
Receive Data 4
As above, but for RPDO 4 (Receive Process Data Object 4)
(Parameter 27…31) Not in use
5.2
SDO communication
All parameters are accessible by SDO (Service Data Object) communication.
The Identifier for the SDOs are CANopen default:
Identifier of Receive SDO = 1536 (600 hex) + Node Address
Identifier of Transmit SDO = 1408 (580 hex) + Node Address
5.3
PDO communication
For fast process data exchange the interface module provides 4 Transmit PDOs (Process Data
Objects) and 4 Receive PDOs. The PDOs consist of 4 data byte and use the predefined CANopen
default identifiers. You can map one MC800 parameter to each PDO, therefore you can read up to
4 parameter values and write up to 4 parameter values by fast PDO transmission.
PDO
Identifier
Data Byte 0 … 3
Transmit PDO 1 180 hex
+ Node Address
Value of parameter defined in “Transmit Data 1”
Transmit PDO 2 280 hex
+ Node Address
Value of parameter defined in “Transmit Data 2”
Transmit PDO 3 380 hex
+ Node Address
Value of parameter defined in “Transmit Data 3”
Transmit PDO 4 480 hex
+ Node Address
Value of parameter defined in “Transmit Data 4”
Receive PDO 1 200 hex
+ Node Address
Value of parameter defined in “Receive Data 1”
Receive PDO 1 300 hex
+ Node Address
Value of parameter defined in “Receive Data 2”
Receive PDO 1 400 hex
+ Node Address
Value of parameter defined in “Receive Data 3”
Receive PDO 1 500 hex
+ Node Address
Value of parameter defined in “Receive Data 4”
