CANopen gateway
Wieland Electric GmbH | BA000970 | 11/2016 (Rev. F)
TxPDO 1…4
A transmit-PDO transmits data from the CANopen gateway to a CANopen device.
Table 94: TxPDO 1…4
181-1FF 8 B1 B2 B3 B4 B5 B6 B7 B8
381-3FF 8 B17 B18 B19 B20 B21 B22 B23 B24
CAN telegram bytes as in the network input data, with the aid of samosPLAN5+
(see
Configuring the gateway output values (tab 1) [ch. 5.3, p. 44]
).
The gateway sends one or several TxPDOs when at least one of the following events occurs:
• At least one input or output byte has changed its value and the transmission type for the
TxPDO that contains this byte has the value 255.
• At least one input or output byte has changed its value and the gateway contains a SYNC
command and at least one TxPDO has transmission type 0.
• When the transmission type is n = 1 ... 240, n sync commands are required in order to
send the TxPDO.
• The transmission type for a TxPDO is 254 or 255 and the event timer (SDO 1800,5 for
TxPDO1) has a value of N > 0. In this case this TxPDO is sent every N ms.
• A TxPDO can also be called up with the aid of a remote transmission request (RTR). This
requires a CAN telegram to the gateway that contains the CAN-ID of the desired TxPDOs
with DLC = 0 and RTR = 1.
The operating state of the device must be "operational" for all transmission methods (see
Table
"Network management for all NMT slaves" [ch. 10.4, p. 138]
).
RxPDO 1…4
A receive-PDO transmits data from a CANopen device to the CANopen gateway.
Table 95: RxPDO 1…4
CAN telegram bytes as for the gateway input data, with the aid of samosPLAN5+.
The transmission type 255 is preset for all RxPDOs. This means that the gateway immediately
transmits the RxPDO data on to the controller module. This setting cannot be changed.
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