BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-26
Default-PDOs and PDO-Mappings
The 4 Transmit and 4 Receive-PDOs which are specified by the
Communication Profile CiA DS-301 are supported by BL20. The
mapping of these PDOs and their Transmission types are specified
by the I/O-Device Profile CiA DS-401.
In addition to the default PDOs which are standardized by the CiA
DS-301 and DS-401 profiles, other PDOs for an BL20-CANopen
gateway may be provided with mapping entries and communication
parameters. These additional PDOs (5 to 16) will be set to "Invalid"
as a default.
Default-PDOs as per CiA DS-301 and DS-401
The TPDOs in the following table have the following characteristics:
The COB-ID is part of sub-index 01
hex
The PDO is active!
The first digit of the 8-digit
hex
adecimal COB-ID-number shows
amongst others, if the PDO is valid. Active PDOs are marked by
a
hex
-digit < 7. Normally, the digit is 0 or 4 →page 4-84.
Note
The Default-PDOs are only activated if the planned objects and sub-
indices actually exist for the corresponding PDO. If, for instance, no
analog I/Os are used in a BL20 station, then the PDOs 2 to 4 are set
to "Invalid" and no mapping entries will be present.
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