Transmitting process data
Identifier of the process data objects (PDO)
9
Network via CANopen
9.3
9.3.2
L
9.3−2
EDSPM−TXXX−9.0−11/2009
9.3.2 Identifier of the process data objects (PDO)
The identifiers of process data objects PDO1 ... PDO10 consist of the so−called
basic identifiers and the set node address:
Identifier = Basic identifier + node address
Basic identifier Available for
dec hex CAN gateway 8×dig. I/O compact
16×dig. I/O compact
32×dig. I/O compact
PDOs Process data object 1
ü ü
PDO1−Rx 512 200
PDO1−Tx 384 180
Process data object 2
ü —
PDO2−RX 768 300
PDO2−TX 640 280
Process data object 3
ü —
PDO3−Rx 1024 400
PDO3−Tx 896 380
Process data object 4
ü —
PDO4−Rx 1280 500
PDO4−Tx 1152 480
Process data object 5
ü —
PDO5−Rx 1920 780
PDO5−Tx 1664 680
Process data object 6
ü —
PDO6−Rx 576 240
PDO6−Tx 448 1C0
Process data object 7
ü —
PDO7−Rx 832 340
PDO7−Tx 704 2C0
Process data object 8
ü —
PDO8−Rx 1088 440
PDO8−Tx 960 3C0
Process data object 9
ü —
PDO9−Rx 1344 540
PDO9−Tx 1216 4C0
Process data object 10
ü —
PDO10−Rx 1984 7C0
PDO10−Tx 1728 6C0
Basic identifiers of the process
data objects
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