turck BL20 - Page 103

D301087 0308 - BL20 CANopen 4-31
Transmission of Process Data Objects (PDO)
4
The following table illustrates the systematic relationship:
Table 6:
Relationship
between a Node-
ID and BL20-
specific PDOs
PDO Node-ID assigned to
this COB-ID in the
Default Master-Slave
Connection Set
Original PDO, to which
this COB-ID is assigned
in the Default Master-
Slave Connection Set
PDO5 own Node-ID + 64 (40
hex
) PDO1
PDO6 own Node-ID + 64 (40
hex
) PDO2
PDO7 own Node-ID + 64 (40
hex
) PDO3
PDO8 own Node-ID + 64 (40
hex
) PDO4
PDO9 own Node-ID + 96 (60
hex
) PDO1
PDO10 own Node-ID + 96 (60
hex
) PDO2
PDO11 own Node-ID + 96 (60
hex
) PDO3
PDO12 own Node-ID + 96 (60
hex
) PDO4
PDO13 own Node-ID + 32 (20
hex
) PDO1
PDO14 own Node-ID + 32 (20
hex
) PDO2
PDO15 own Node-ID + 32 (20
hex
) PDO3
PDO16 own Node-ID + 32 (20
hex
) PDO4