Pdo Protocol; Pdo Communication Parameter Record - Vacon OPTE6 User Manual

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3.5

PDO protocol

Process data objects PDOs are used to transmit real-time data with no protocol overhead. Each
PDO has its mapping and communication parameter record.
There are two different types of PDOs. Transmit PDOs for producing data into network and Receive
PDOs for consuming data from network. OPTE6 board consist totally 3 receive and 3 transmit PDOs.
3.5.1

PDO communication parameter record

PDO communication parameter record defines the COB-id, transmission type and how often the
PDO is transmitted. The fields can be modified during the pre-operational state.
Table 22: PDO communication parameter record
Indexes
0x1400
0x1401
0x1402
0x1800
0x1801
0x1802
3
Table 21: PDO-related objects in OD
Index Description
0x1400 1st rxPDO communication parameter record
0x1401 2nd rxPDO communication parameter record
0x1402 3rd rxPDO communication parameter record
0x1600 1st rxPDO mapping parameter record
0x1601 2nd rxPDO mapping parameter record
0x1602 3rd rxPDO mapping parameter record
0x1800 1st txPDO communication parameter record
0x1801 2nd txPDO communication parameter record
0x1802 3rd txPDO communication parameter record
0x1A00 1st txPDO mapping parameter record
0x1A01 2nd txPDO mapping parameter record
0x1A02 3rd txPDO mapping parameter record
Sub-index Name
0 Highest sub-index supported
1 COB ID
2 Transmission type
3 Inhibit time
4 Reserved
5 Event timer
6 SYNC start value
CANopen protocol description
Data type RX PDO
UNSIGNED8 ro
UNSIGNED32 r/w
UNSIGNED8 r/w
UNSIGNED16 ro
UNSIGNED8 ro
UNSIGNED16 r/w
Not
UNSIGNED8
available
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TX PDO
ro
r/w
r/w
r/w
ro
r/w
r/w