turck BL20 - Page 102

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-30
Example
The own Node-ID of an BL20-CANopen gateway is 1. There are
more than 12 analog input channels. As a result, appropriate
mapping entries are set up for TPDO13 (Object 1A0C
hex
), and the
COB-ID (Object 180C, Sub-Index 1) is pre-loaded with the value
8000 01A1
hex
. This PDO can only be enabled without alteration if a
node with the Node-ID 33 (own Node-ID + 32) does not exist, or at
least its TPDO1 is not used.
4th group, encoders (Channels 6 + 7) PDO12
180B
hex
8000 0560
hex
+ Node-ID
4th group, analog output channels
(Channels 12 to 15)
PDO13
180C
hex
8000 0220
hex
+ Node-ID
5th group, analog output channels
(Channels 16 to 19)
PDO14
180D
hex
8000 0320
hex
+ Node-ID
6th group, analog output channels
(Channels 20 to 23)
PDO15
180E
hex
8000 0420
hex
+ Node-ID
7th group, analog output channels
(Channels 24 to 27)
PDO16
180F
hex
8000 0520
hex
+ Node-ID
1st group, RS×× I/Os (Channel 0) PDO18
1811
hex
8000 0000
hex
1st group, RS×× I/Os (Channel 1) PDO19
1812
hex
8000 0000
hex
Attention
The COB-IDs for the RS×××-Module must be defined by the user!
Meaning RPDOs COB-ID RPDO