turck BL20 - Page 99

D301087 0308 - BL20 CANopen 4-27
Transmission of Process Data Objects (PDO)
4
Overview of the Default-TPDOs as per CiA DS-301 and
DS-401
Overview of the Default-RPDOs as per CiA DS-301 and
DS-401
Meaning TPDO Sub-Index 01
hex
-
"COB-ID"
1st group, digital input channels,
(Bits 0 to 63)
PDO1
1800
hex
0000 0180
hex
+ Node-ID
1st group, analog input channels,
(Channel 0 to 3)
PDO2
1801
hex
0000 0280
hex
+ Node-ID
2nd group, analog input channels,
(Channel 4 to 7)
PDO3
1802
hex
0000 0380
hex
+ Node-ID
3rd group, analog input channels,
(Channel 8 to 11)
PDO4
1803
hex
0000 0480
hex
+ Node-ID
Meaning RPDO COB-ID
1st group, digital output channels,
(Bits 0 to 63)
PDO1
1400
hex
0000 0200
hex
+ Node-ID
1st group, analog output channels,
(Channel 0 to 3)
PDO2
1401
hex
0000 0300
hex
+ Node-ID
2nd group, analog output channels,
(Channel 4 to 7)
PDO3
1402
hex
0000 0400
hex
+ Node-ID
3rd group, analog output channels,
(Channel 8 to 11)
PDO4
1403
hex
0000 0500
hex
+ Node-ID