Manual

CANopen Module Specification 21
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
6.2 Data Exchange
Process data is read and written using function blocks, see “Get Process Data In” on page 43 and “Set
Process Data Out” on page 44.
6.2.1 PDO Functionality
Real-time data transfer is performed by means of PDOs (Process Data Objects). The PDOs are linked
to entries in the Device Object Dictionary and provide the interface to the application objects. Number
and length of PDOs in a device are node specific and have to be configured by the CANopen configu
-
ration tool.
PDOs are used both for data transmission and reception, using so called Transmit-PDOs (TPDOs) and
Receive-PDOs (RPDOs). Each PDO corresponds to two entries in the Device Object Dictionary. The
PDO parameter object holds information on the COB-ID, the transmission type etc. On recognition of
the COB-ID the corresponding PDO mapping object can be identified, to make it possible to trans
-
mit/receive data to/from the correct object in the device. The default settings for the mapping can be
changed during configuration.
Default PDO Mapping Scheme for Slave Mode
1
The module features a simple default mapping scheme with 4 TPDOs and 4 RPDOs.
•RPDO
1. There is no default mapping for master mode.
RPDO no.
Default
COB-IDs
Mapped to... Relating to...
Default
State
1 200h + Node-ID Object index A4C0h, subindex 1... 8 Output data buffer, bytes 0... 7 Enabled
2 300h + Node-ID Object index A4C0h, subindex 9... 16 Output data buffer, bytes 8...15
3 400h + Node-ID Object index A4C0h, subindex 17... 24 Output data buffer, bytes 16... 23
4 500h + Node-ID Object index A4C0h, subindex 25... 32 Output data buffer, bytes 24... 31
5 80000000h Object index A4C0h, subindex 33... 40 Output data buffer, bytes 32... 39 Disabled
... ... ...
16 Object index A4C0h, subindex 121...
128
Output data buffer, bytes 120... 127
... ... ...
31 Object index A4C0h, subindex 241...
248
Output data buffer, bytes 240... 247
32 Object index A4C0h, subindex 241...
248
Object index A4C1h, subindex 1... 2
Output data buffer, bytes 248... 255
33 No default mapping -
... ... ...
64 No default mapping -