Canopen Configuration Of The Gateway - Which Data Are Transferred - Leuze electronic MSI 400 Series Manual

Fig. 10.8: PDO Properties dialog window in CoDeSys 2.3
Ä 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 configuration software.
Ä Repeat these steps for the other transmission and receiving PDOs.
10.3

CANopen configuration of the gateway - which data are transferred

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 objects.
Predefined Connection Set (PCS)
The Predefined connection set provides a simple CAN identifier structure. The MSI-FB-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 objects. 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.
Tab. 10.6: Structure of the CAN identifiers
Bit number
10 9
Function code
Tab. 10.7: PCS communication objects
Object
Broadcast objects
Peer-to-peer objects
NMT
SYNC
EMERGENCY
TxPDO1
RxPDO1
TxPDO2
RxPDO2
TxPDO3
RxPDO3
Leuze electronic
8 7 6
Device address
CAN identifier
00h
80h
081h...0FFh
181h...1FFh
201h...27Fh
281h...2FFh
301h...37Fh
381h...3FFh
401h...47Fh
5 4 3
Meaning
Network management
Sync message
State message
Send process data object 1
Receive process data object 1
Send process data object 2
Receive process data object 2
Send process data object 3
Receive process data object 3
MSI 400
CANopen gateway
2 1 0
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