2 receive pdo configuration in the rxpdo node, Receive pdo configuration in the rxpdo node, Canopen over ethercat (coe) – Lenze 931K User Manual
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CANopen over EtherCAT (CoE)
Adaptation of the device description file
Receive PDO configuration in the RxPDO node
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KHB 13.0005−EN 1.0
8.8.2
Receive PDO configuration in the RxPDO node
The RxPDO node serves to define the mapping for the receive PDOs and their assignment
to a channel of the sync manager. A typical entry in the device description file for the 931K
servo position controller can be as follows:
<RxPDO Fixed="1" Sm="2">
<Index>#x1600</Index>
<Name>Outputs</Name>
<Entry>
<Index>#x6040</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Controlword</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Mode_Of_Operation</Name>
<DataType>USINT</DataType>
</Entry>
</RxPDO>
As it can be seen in the above example, such an entry describes the entire mapping of the
receive PDO in detail. The first great block indicates the object number of the PDO and its
type. Then a list of all CANopen objects follows which are to be mapped into the PDO.
Nodes in the configuration of the receive PDO
Node designation
Meaning
Adaptable
RxPDO Fixed="1"
Sm="2"
This node directly describes the state of the receive PDO and its
assignment to the sync manager.
The entry Fixed="1" indicates that the mapping of the object cannot be
changed.
The entry Sm="2" indicates that the PDO is to be assigned to sync
channel 2 of the sync manager.
No
Index
This entry contains the object number of the PDO. Here the first
receive PDO is configured under the object number 0x1600.
Yes
Name
The name indicates whether this PDO is a receive PDO (outputs) or a
transmit PDO (inputs).
For a receive PDO this value always has to be set to "Output .
No
Entry
The Entry node in each case contains a CANopen object that is to be
mapped into the PDO. An Entry node contains the index and subindex
of the CANopen object to be mapped, and its name and data type.
Yes
The sequence and mapping of the individual CANopen objects for the PDO corresponds to
the sequence in which they are specified via the "Entry" inputs in the device description
file. The individual subnodes of an "Entry" node are specified in the following tables: