turck BL20 - BL20-Specific Default-Pdos

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-28
BL20-Specific Default-PDOs
These additional PDOs are always set to "Invalid" as a default.
Before enabling these PDOs, the corresponding parameters must
be checked. This applies especially to the COB-IDs, since these are
taken from the Default Master-Slave Connection Set, and are
assigned to other Node-IDs. For this reason, other nodes with the
corresponding Node-ID must not be present in the network, or such
nodes must not use the corresponding COB-IDs.
The Transmission type of these PDOs is generally 255.
Overview of the BL20-specific TPDOs
Note
The COB-ID definition for the TPDOs depends on the gateway used
in the application (see EDS file for the gateways).
Meaning TPDOs COB-ID TPDO
2nd group, digital input channels
(Bits 64 to 127)
PDO5
1804
hex
8000 01C0
hex
+ Node-ID
3rd group, digital input channels
(Bits 128 to 191)
PDO6
1805
hex
8000 02C0
hex
+ Node-ID
4th group, digital input channels
(Bits 192 to 255)
PDO7
1806
hex
C000 03C0
hex
+ Node-ID
5th group, digital input channels
(Bits 256 to 319)
PDO8
1807
hex
C000 04C0
hex
+ Node-ID
1st group, encoders (Channels 0 + 1) PDO9
1808
hex
C000 01E0
hex
+ Node-ID
2nd group, encoders (Channels 2 + 3) PDO10
1809
hex
C000 02E0
hex
+ Node-ID
3rd group, encoders (Channels 4 + 5) PDO11
180A
hex
C000 03E0
hex
+ Node-ID
4th group, encoders (Channels 6 + 7) PDO12
180B
hex
C000 04E0
hex
+ Node-ID