Pdo” tab – BECKHOFF FC5101 User Manual
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”PDO” tab
COB Id: The CAN identifier of this PDO. For every two send and receive PDOs per node, CANopen provides
Default Identifiers. These can then be changed.
Trans.Type: The Transmission Type determines the send behaviour of the PDO. 255 corresponds to the event
driven send.
Inhibit time: Send Delay between two identical PDOs. Is entered in multiples of 0.1 ms.
Length: The length of the PDO is based on the mapped variables and cannot therefore be edit here.
Event Time (FC510x only): Enter the value for the Event Timer in ms. For send PDOs (here: RxPDOs, see
above) the StartUp of this timer triggers an additional PDO send, for receive PDOs (here: TxPDOs) the arrival
of a PDO within the pre-set value is monitored and the box state of the node is changed as appropriate. If 0, the
parameter is not transferred to the node.
TwinCAT creates corresponding inputs in the node object directory on the basis of the parameters entered
here. These are transferred via SDO at the system start. You can view the inputs at the SDO tab. If this behav-
iour is not required, you can deactivate "Auto Download of PDO Parameters" by selecting the checkbox at the
CAN node tab.
Tree Representation:
TwinCAT firstly provides two send and receive PDOs, with Default Identifiers, for a general CANopen node.
Superfluous PDOs can be selected and removed.
TxPDOs are sent by the CANopen node and generally contain inputs. RxPDOs are received by the node, i.e.,
sent by TwinCAT.
Add variables to the PDOs by right clicking on ”Inputs” and/or ”Outputs” and selecting the corresponding vari-
able(s). If several variables of the same type are inserted with a single action, the offset within the PDO will be
created automatically. If variables are inserted one after another, you need to set the corresponding offset (start
address within the CAN telegram) for each variable.
Warning: Please note that TwinCAT assigns the PDOs to the object dictionary entries in the node using