CANopen Communication Module DVPCOPM-SL
PDO COB-ID s
etting rule is as follows.
RxPDO Number COB-ID(HEX) TxPDO Number COB-ID (HEX)
RxPDO1 200+slave node address TxPDO1 180+slave node address
RxPDO2 300+slave node address TxPDO2 280+slave node address
RxPDO3 400+slave node address TxPDO3 380+slave node address
RxPDO4 500+slave node address TxPDO4 480+slave node address
Note:
COB-ID of RxPDO5~ RxPDO8, TxPDO5~ TxPDO8 can be the COB-ID of other slaves: RxPDO1~ RxPDO4,
TxPDO1~ TxPDO4 which has not been used in the network yet. COB-ID of every PDO must not be same.
PDO transmission type is as below;
Transmission Type Description Remark
RxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. When there is change for RxPDO data,
RxPDO data is transmitted to slave and the data that slave
receives is valid after receiving the next SYNCH message.
When there is no change for RxPDO data, master does not
transmit RxPDO data to slave.
0
TxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. When TxPDO data changes, slave sends
the TxPDO data to master after receiving SYNCH
message, TxPDO data that master receives is valid
immediately. When there is no change for TxPDO data,
master does not transmit TxPDO data to slave.
SYNCH non-cycle
RxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. Master sends out RxPDO data to slave
once every SYNCH cycle. RxPDO data that slave receives
from master is valid after slave receives the next SYNCH
message.
1
TxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. Slave sends out TXPDO data to master
once after receiving one SYNCH message. And then the
TxPDO data master receives is valid immediately.
SYNCH Cycle
RxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. Master transmits RxPDO data to slave
every two SYNCH cycles. The RxPDO data slave receives
will be valid after slave receives the next SYNCH
message.
2
TxPDO
Master transmits a SYNCH message to slave every
SYNCH cycle. Slave sends out TxPDO data to master
once after receiving 2 SYNCH messages. And the TxPDO
data master receives is valid immediately.
SYNCH Cycle
DVP-PLC Operation Manual
23
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