Leuze electronic MSI 400 Series Manual page 129

Tab. 10.17: Preset for the content of the transmit process data objects (TxPDOs) of the MSI-FB-CANOPEN module
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Detailed information about the content of the process diagram may be found here:
Configuring the gateway output values (tab 1) [chapter 5.3]
You will find further information about how to configure the process diagram here:
• Configuration of gateways with MSI.designer [chapter 5]
• Software manual
NOTICE
i
Ä The process data can also be written and read with the aid of service data objects SDO
6000 and SDO 6200 (see SDO communication [chapter 10.9]). Easy access via SDO is re-
commended for diagnostic purposes. More rapid PDO communication is to be used for nor-
mal operation.
Ä After starting up or changing the configuration (either with the aid of the CANopen master or
with MSI.designer), the LED MS of the CANopen gateway flashes red/green until an initial
transmit/receive data exchange has taken place via PDO or SDO 6000/SDO 6200 in the
CANopen network.
TxPDO 1...4
A transmit-PDO transmits data from the CANopen gateway to a CANopen device.
Tab. 10.18: TxPDO 1...4
CAN ID DLC
181-1FF 8
281-2FF 8
381-3FF 8
481-4FF 8
B1...B32: CAN telegram bytes as in the network input data, with the aid of MSI.designer (see Configuring
the gateway output values (tab 1) [chapter 5.3]).
The gateway sends one or several TxPDOs when at least one of the following events occurs:
Leuze electronic
PDO#1 PDO#2
Output data - Block Output data - Block
1 2
Input values for Mod- Input values for Mod-
ule 0 (I1..I8) ule 1
Input values for Mod- Input values for Mod-
ule 0 (I9..I16) ule 2
Input values for Mod- Input values for Mod-
ule 0 (IQ1..IQ4) ule 3
Output values for Input values for Mod-
Module 0 ule 4
(Q1..Q4,IQ1-IQ4)
Direct data (Off) 1 Input values for Mod-
ule 5
Direct data (Off) 2 Input values for Mod-
ule 6
Direct data (Off) 3 Input values for Mod-
ule 7
Direct data (Off) 4 Input values for Mod-
ule 8
Data
B1 B2
B9 B10
B17 B18
B25 B26
PDO#3
Output data - Block
3
Input values for Mod-
ule 9
Input values for Mod-
ule 10
Input values for Mod-
ule 11
Input values for Mod-
ule 12
Output values for
Module 1
Output values for
Module 2
Output values for
Module 3
Output values for
Module 4
B3 B4 B5
B11 B12 B13
B19 B20 B21
B27 B28 B29
MSI 400
CANopen gateway
PDO#4
Output data - Block
4
Output values for
Module 5
Output values for
Module 6
Output values for
Module 7
Output values for
Module 8
Output values for
Module 9
Output values for
Module 10
Output values for
Module 11
Output values for
Module 12
B6 B7 B8
B14 B15 B16
B22 B23 B24
B30 B31 B32
129