Hitachi SJ2-CO Instruction Manual page 16

5.1.2 PDO(Process Data Object)
The real-time data transfer is using the PDOs.
There are two kinds of PDO transmission modes. One is a synchronization (SYNC), the other is
asynchronization message (Remotely Request, Event Driven, Timer Driven).
These PDO services use the push / pull models. The PDOs have Transmit-PDOs (maximum data size is 8
bytes) and Receive-PDOs (maximum data size is 8 bytes). These data type and these mapping are
defined by the Object Dictionary.
The following table is the PDO parameter indexes, the data types and the objects.
Index Type
1400h 20h
1401h 20h
1402h 20h
1403h 20h
1600h 21h
1601h 21h
1602h 21h
1603h 21h
1800h 20h
1801h 20h
1802h 10h
1803h 20h
1A00h 21h
1A01h 21h
1A02h 21h
1A03h 21h
Data type "20h" is a record, which defines the PDO communication parameter, and it is of the following
format:
Sub-Index
0h
1h UNSIGNED32
2h
3h UNSIGNED16
4h
Data type "21h" is a record, which defines the PDO mapping parameter and it is of the following
format:
Sub-Index
0h
1h
or UNSIGNED32
1h, 2h
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CHAPTER5 CANOPEN COMMUNICATION FUNCTION
st
1 receive PDO communication parameter
nd
2 receive PDO communication parameter
rd
3 receive PDO communication parameter
th
4 receive PDO communication parameter
st
1 receive PDO mapping parameter
nd
2 receive PDO mapping parameter
rd
3 receive PDO mapping parameter
th
4 receive PDO mapping parameter
st
1 transmit PDO communication parameter
nd
2 transmit PDO communication parameter
rd
3 transmit PDO communication parameter
th
4 transmit PDO communication parameter
st
1 transmit PDO mapping parameter
nd
2 transmit PDO mapping parameter
rd
3 transmit PDO mapping parameter
th
4 transmit PDO mapping parameter
Type
Number of supported entries in the
UNSIGNED8
record
COB-ID
UNSIGNED8 transmit type
inhibit time
UNSIGNED8 CMS priority group
Type
Number of supported entries in the
UNSIGNED8
record
Structure
object index (16 bit), sub-index (8
bits) and object data length in bits.
For example "20010010h" defines
object "2001h", sub-index "0h", and
data length of16 bits (=word).
Object
Meaning
Meaning
consisting of mapped
12
Notes
Notes
Default: 2
Default: 255
TPDO only
Default: 3
Notes
Default: 2