turck BL20 - Available Pdos; Mapping Objects in Pdos

D301087 0308 - BL20 CANopen 4-25
Transmission of Process Data Objects (PDO)
4
Available PDOs
64 PDOs are supported:
 32 Transmit PDOs: TPDO1 to TPDO32 (Index 1800
hex
to 181F
hex
)
 32 Receive PDOs: RPDO1 to RPDO32 (Index 1400
hex
to 141F
hex
)
The corresponding Default Master-Slave Connection Set is
supported for each of the PDOs 1 to 4, so that a COB-ID distribution
is not necessary for these PDOs.
If one of the COB-IDs from xPDO1 to xPDO4 is reconfigured, then
the use of a COB-ID from the Default Master-Slave Connection Set
can be achieved by setting this COB-ID to 0.
Mapping Objects in PDOs
Mapping is the assignment of objects from an Object Dictionary in a
PDO for transmission/reception through the CAN-bus. More than
one object can be transmitted in a single PDO.
The Mapping parameters determine which items of information are
transmitted in a PDO:
Table 5:
Object Dictionary
for mapping
parameters
PDO
Type Range
Object Dictionary entries
Range
Transmit-PDOs TPDO1 to
TPDO32
1A00
hex
to 1A1F
hex
Receive-PDOs RPDO1 to
RPDO32
1600
hex
to 161F
hex