Pdo Functionality - HMS Anybus X-gateway CANopen Series User Manual

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. Number
and length of PDOs in a device are node specific and have to be configured by the CANopen configu-
ration 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 mapping can be
changed during configuration.
Default PDO Mapping Scheme
The module features a simple default mapping scheme with 4 TPDO's and 4 RPDO's.
• RPDO
RPDO no. Default COB IDs Mapped to...
1 200h + Node ID Object index 2100h, sub-index 1... 8
2 300h + Node ID Object index 2100h, sub-index 9... 16
3 400h + Node ID Object index 2100h, sub-index 17... 24
4 500h + Node ID Object index 2100h, sub-index 25... 32
5 80000000h
...
128
• TPDO
TPDO no. Default COB IDs Mapped to...
1 180h + Node ID Object index 2000h, sub-index 1... 8
2 280h + Node ID Object index 2000h, sub-index 9... 16
3 380h + Node ID Object index 2000h, sub-index 17... 24
4 480h + Node ID Object index 2000h, sub-index 25... 32
5 80000000h
...
128
For more information on the mapping see "Vendor Specific Objects" on page 38
RPDO Transmission Types
The RPDOs can be received either in synchronous or asynchronous mode. A synchronization (SYNC)
object is transmitted periodically by a synchronization master. The data in synchronous RPDOs are not
transferred to the application until after the next SYNC object is received. Asynchronous RPDOs will
be transferred upon reception.
The transmission type parameter of a RPDO specifies the triggering mode.
Transmission
Mode
type, RDPO
0 - 240 Synchronous
241 - 253 -
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
Object index 2100h, sub-index 33... 40
...
Object index 2103h, sub-index 121 ... 126 Receive bytes 506... 511
Object index 2000h, sub-index 1... 8
...
Object index 2003h, sub-index 121 ... 126 Transmit bytes 506... 511
RPDO transmission description
A received RPDO is transferred to the application after a SYNC object is received.
Reserved
CANopen Module Specification 27
Relating to... Default State
Receive bytes 2... 9 Enabled
Receive bytes 10...17
Receive bytes 18... 25
Receive bytes 26... 33
Receive bytes 34... 41 Disabled
...
Relating to... Default State
Transmit bytes 2... 9 Enabled
Transmit bytes 10... 17
Transmit bytes 18... 25
Transmit bytes 26... 33
Transmit bytes 34... 41 Disabled
...
Doc.Id. SCM-1200-080