Canopen Configuration Of The Gateway - Which Data Are Transferred - Wieland samos PRO Manual

Illustration 42: PDO Properties dialog window in CoDeSys 2.3
 From the selection, choose the desired transmission type for the PDO, enter the event time in
ms and click on OK. More detailed information in this regard may be found in the section
"Transmission types for the TxPDOs" on page 107 and in the manual for your CanOpen configu-
ration software.
 Repeat these steps for the other transmission and receiving PDOs.
10.3

CANopen configuration of the gateway - which data are transferred

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Each CANopen device stores its data in objects listed in the object directory. The service data objects
(SDOs) mainly contain the CANopen configuration data, while the process data are stored in process
data objects (PDOs). Communication objects are used to read and write these SDOs and PDOs and
to control the devices. The following sections contain more detailed descriptions of the various ob-
jects.
Predefined Connection Set (PCS)
The Predefined connection set provides a simple CAN identifier structure. The SP-CANopen gateway
makes communication objects available, which can be contacted or transmitted using this CAN
Identifier. The PCS consists of 2 broadcast objects (NMT and SYNC) and a total of 12 peer-to-peer ob-
jects. Each of these objects has a clear 11-bit CAN identifier, which consists of a function code and a
device address. The device address for the broadcast objects is 0, while that for the other objects is
within the range of 1 ... 127.
Table 87: Structure of the CAN identifiers
Bit number
10
Function code
Table 88: PCS communication objects
Object
Broadcast objects
Peer-to-peer objects
NMT
SYNC
EMERGENCY
TxPDO1
RxPDO1
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
9 8 7
CAN identifier
00h
80h
081h...0FFh
181h...1FFh
201h...27Fh
6 5 4
Device address
Meaning
Network management
Sync message
State message
Send process data object 1
Receive process data object 1
CANopen gateway
3 2 1 0
130