Delta AH500 - Page 727

Chapter 15 CANopen Communication Module AH10COPM
15-15
The users can add parameters in the Available Objects from EDS file section to the
Mapped Objects section. The total of the data lengths of the parameters added to a PDO
can not exceed eight bytes. After the users add parameters to the Mapped Objects section,
they have to click OK. After the users click the TxPDO or the RxPDO under Configured
PDO, and click Properties, they can modify the information in the COB ID box and the
Transmit type drop-down list box in the PDO properties window. After the users click
Define PDO, they can define a RxPDO or a TxPDO by themselves.
In this example, the default configuration is used. Finally, the users have to click OK in the
Node Configuration… window.
Rule of setting a COB-ID:
RxPDO
number
COB-ID (Hex)
TxPDO
number
COB-ID (Hex)
RxPDO1 200+Slave station address TxPDO1 180+Slave station address
RxPDO2
300+Slave station address
TxPDO2
280+Slave station address
RxPDO3
400+Slave station address
TxPDO3
380+Slave station address
RxPDO4
500+Slave station address
TxPDO4
480+Slave station address
Note: The COB-IDs of RxPDO5~RxPDO8 and TxPDO5~TxPDO8 can be the COB-IDs of
RxPDO1~RxPDO4 and TxPDO1~TxPDO4 in an unused slave station, but they can
not be the same.
Descriptions of transmission types:
Transmission
type
Description
Remark
0
RxPDO
A master station sends a synchronous message to
a slave station every period of synchronization.
After a RxPDO is changed, the new RxPDO will be
sent to the slave station. The new RxPDO that the
slave station receives will not take effect until the
next synchronous message is received. If a RxPDO
is not changed, the master station will not send the
RxPDO to the slave station.
Synchronous
acyclic
TxPDO
A master station sends a synchronous message to
a slave station every period of synchronization.