Wieland samos PRO COMPACT Manual page 146

TxPDO 1...4
A transmit-PDO transmits data from the CANopen gateway to a CANopen device.
Table 94: TxPDO 1...4
CAN ID
181-1FF
281-2FF
381-3FF
481-4FF
B1...B32: CAN telegram bytes as in the network input data, with the aid of samosPLAN5+
Configuring the gateway output values (tab 1) [ch. 5.3, p. 44]
(see
The gateway sends one or several TxPDOs when at least one of the following events occurs:
• At least one input or output byte has changed its value and the transmission type for the
TxPDO that contains this byte has the value 255.
• At least one input or output byte has changed its value and the gateway contains a SYNC
command and at least one TxPDO has transmission type 0.
• When the transmission type is n = 1 ... 240, n sync commands are required in order to
send the TxPDO.
• The transmission type for a TxPDO is 254 or 255 and the event timer (SDO 1800,5 for
TxPDO1) has a value of N > 0. In this case this TxPDO is sent every N ms.
• A TxPDO can also be called up with the aid of a remote transmission request (RTR). This
requires a CAN telegram to the gateway that contains the CAN-ID of the desired TxPDOs
with DLC = 0 and RTR = 1.
The operating state of the device must be "operational" for all transmission methods (see
"Network management for all NMT slaves" [ch. 10.4, p. 138]
RxPDO 1...4
A receive-PDO transmits data from a CANopen device to the CANopen gateway.
Table 95: RxPDO 1...4
CAN ID
201-1FF
301-2FF
401-3FF
501-4FF
B1...B32: CAN telegram bytes as for the gateway input data, with the aid of samosPLAN5+.
The transmission type 255 is preset for all RxPDOs. This means that the gateway immediately
transmits the RxPDO data on to the controller module. This setting cannot be changed.
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
DLC Data
8 B1 B2
8 B9 B10
8 B17 B18
8 B25 B26
DLC Data
8 B1 B2
8 B9 B10
8 B17 B18
8 B25 B26
CANopen gateway
B3 B4 B5
B11 B12 B13
B19 B20 B21
B27 B28 B29
).
B3 B4 B5
B11 B12 B13
B19 B20 B21
B27 B28 B29
B6 B7 B8
B14 B15 B16
B22 B23 B24
B30 B31 B32
).
Table
B6 B7 B8
B14 B15 B16
B22 B23 B24
B30 B31 B32
146