Basic of CAN
Parameter manual b maXX
®
1000
Document no. 5.07004.03 Baumüller Nürnberg GmbH
186
of 208
B.3
m Process data (PDO)
Process data objects are unconfirmed telegrams with high-profit COB IDs: They are optimized for the exchange
of data with real time requests. In the PDOs, the entire CAN data frame (8 byte) can be used for user data
transmission. The format of the data exchange via PDOs must therefore be defined before the start of commu-
nication between transmitter and receiver (mapping).
Note
The b maXX
®
1000 CANopen slave can write only predefined 6xxxx
hex
object (see ZB.3.3.4 Transmit PDO
Mapping Parameter– from page 199)
n Mapping
Mapping is a method of assigning variables/objects to PDOS. These variables/objects are moved across
the CAN bus with the PDOs. Cyclic data exchange is configured by means of the mapping. SDOs are
used for this parameterizing. Mapping is set in the object directory via addressable objects. There are four
such objects for each PDO.
Mapping cannot be changed in the OPERATIONAL state. New mapping will only be activated after switch-
ing to OPERATIONAL.
m Set value mapping
The permissible cyclical set values are marked in a table with the column ‘PDO mapping’ as ‘RX’. The
b
maXX
®
1000 CANopen can only predefined six thousands object numbers (6xxxx
hex
). The parame-
ter is found in ZB.3.3.4 Transmit PDO Mapping Parameter– from page 199.
m Actual value
The permissible cyclic actual values are marked in a table with the column ‘PDO mapping’ as ‘TX’. The
parameter is found in
ZB.3.3.4 Transmit PDO Mapping Parameter– from page 199 (for the predefined
six thousands object numbers). The two thousands parameters are the manufacturer- specific param-
eters.
Process data object Object for content Object for the
communication relationship
TX-PDO1 1A00
hex
1800
hex
TX-PDO2 1A01
hex
1801
hex
TX-PDO3 1A02
hex
1802
hex
TX-PDO4 1A03
hex
1803
hex
RX-PDO1 1600
hex
1400
hex
RX-PDO2 1601
hex
1401
hex
RX-PDO3 1602
hex
1402
hex
RX-PDO4 1603
hex
1403
hex
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