WAGO CANopen 752 Manual page 52

48 • CANopen
Client
Client
Fig. 7-4: SDO design
Another object is available to allow a very quick transmission of data (without
protocol overhead) - the Process Data Object (PDO).
PDOs consist only of the CAN identifier and the data field. No further proto-
col information is contained in a PDO, the design of the data field depending
on the previously occurred mapping.
Client
Fig. 7-5: RxPDO design
Client
Fig. 7-6: TxPDO design
Receive Service Data Object (RxSDO)
COB-ID = 1536 + Module ID
0 1 2
Command Index Index
specifier Low Byte High Byte
Transmit Service Data Object (TxSDO)
COB-ID = 1408 + Module ID
0 1 2
Index Index
Command
Low Byte High Byte
specifier
Receive Process Data Object (RxPDO)
COB-ID = yy
0
Data
Transmit Process Data Object (TxPDO)
RTR-Frame, COB ID = xx
COB-ID = xx
0
Data
3 4 8
Sub
Data
Index
3 4 8
Sub
Data
Index
8
8
Fieldbus Dependent I/O Module
Server
Server
g012405x
Server
g^012403x
Server
g^012404x
CANopen