8-33
described from a specific slave angle. For example: I/O equipment transmits its input data in TPDO;
for equipment receives this TPDO data, this TPDO is the device’s RPDO.
1. CAN identifier of PDO
CANopen protocol has pre-defined default identifiers for TPDO 1~4 and RPDO 1~4 according to
node ID. If the default CAN identifier is used, the all slaves can communication with masters having
corresponding RPDO and TPDO; however, the slave cannot monitor TPDO given out from other
slaves. Therefore, if the producer-consumer model exchanges data directly between non-programmable
slaves, it is necessary to reset COB-ID to make CAN identifiers of the producer and consumer
identical.
Object COB-ID Object dictionary position Map dictionary position
PDO 1 (transmit) 181h-1FFh 1800h 1A00h
PDO 1 (receive) 201h-27Fh 1400h 1600h
PDO 2 (transmit) 281h-2FFh 1801h 1A01h
PDO 2 (receive) 301h-37Fh 1401h 1601h
PDO 3 (transmit) 381h-3FFh 1802h 1A02h
PDO 3 (receive) 401h-47Fh 1402h 1602h
PDO 4 (transmit) 481h-4FFh 1803h 1A03h
PDO 4 (receive) 201h-27Fh 1403h 1603h
2. PDO communication parameter
The parameter mainly covers transmission type; time of prohibition.
Transmission type
Synchronous transmission can be divided into non-cyclic and cyclic transmission. Non-
periodical transmission is pre-triggered by the object specific incident specified in
equipment subprotocol. On the other hand, periodical transmission is achieved by receiving
SYNC. The user can set 1-240 synchronous object triggering.
The triggering of asynchronous transmission is achieved by object specific incident
specified in equipment subprotocol.
To Next Page
Loading...
