Pilz PSSnet GW1 MOD­-CAN Operating Manual page 22

Function description
Data area
FC 23
4.3 CANopen
The manufacturer's ID, the device ID and any functions supported by a field device are
defined in a device description file. The device description file (Electronic Data Sheet, EDS)
is fieldbus­dependent. The content and format of a device description file are specified in
the fieldbus standard. The file is needed in order to include an unknown field device in the
respective fieldbus configuration tool and in order to configure the plant­specific require­
ments.
An EDS file in a standardised text format is used for CANopen devices.
4.4 Translation tables
Only Register 4x is represented in the tables. The same assignment applies for Registers
0x, 1x, and 3x.
4.4.1 Payload
Register
4x00001
4x00002 ...
400004
4x00005
4x00006 ...
4x00008
4x00009
4x00010 ...
4x00012
4x00013
4x00014 ...
4x00016
Operating Manual PSSnet GW1 MOD­CAN
1002693­EN­03
Modbus syntax
Read/Write Multiple Re­
gisters
Modbus
Byte
Low Byte RxPDO1
High Byte
Low Byte
High Byte
Low Byte RxPDO2
High Byte
Low Byte
High Byte
Low Byte RxPDO3
High Byte
Low Byte
High Byte
Low Byte RxPDO4
High Byte
Low Byte
High Byte
CANopen
PDO COB­ID
0x200 + Node­Id
0x300 + Node­Id
0x400 + Node­Id
0x500 + Node­Id
Example
The connection Client reads
and writes multiple word
data within a telegram
(receive data from 3x and
send data to 4x)
SDO
Subindex
Index (hex)
2000 1
2
3 ... 8
2000 9
A
B ... 10
2000 11
12
13 ... 18
2000 19
1A
1B ... 20
22