3 pdo mapping, Mapping, Pdo mapping – BECKHOFF AX2000 CANopen communication profile User Manual
Page 40: Beckhoff, Handling canopen process dat a object s (pdo), Pdo - rx (receive) pdo - tx (t ransmit)
4.3
PDO Mapping
Since AX2000/2500 supports more than one operating mode, different PDOs are required for the
transmission and received directions, depending on the application.
The first method of handling of freely configurable PDOs was more-or-less free mapping. With this
type of free mapping, predefined PDOs are selected with the aid of an index from the PDO library.
The contents of these PDOs cannot be reconfigured at a later stage. However, more-or-less free
mapping turned out to be too rigid for the increasing number of extremely variegated applications.
As a result, completely free mapping was introduced additionally for PDOs, whereby the user can
also alter the contents of the PDO (
Þ 3.4.6).
The following diagram “Handling CANopen Process Data Objects” illustrates the use of PDOs.
40
CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF
0x1800
0x1801
0x1400
0x1401
PDO-
COMM.Parameter
(Tx)
PDO-
COMM.Parameter
(Tx)
PDO-
COMM.Parameter
(Rx)
PDO-
COMM.Parameter
(Rx)
Channel
1
Channel
4
Channel
1
Channel
4
SYNC/ASYNC
SYNC/ASYNC
SYNC/ASYNC
SYNC/ASYNC
O
bj
ec
t0
x2
6
0
0
N
o
=
1
..
.4
0
PDO-Channel
1
(Rx)
PDO-Channel
1
(Tx)
PDO-Channel
4
(Rx)
PDO-Channel
4
(Tx)
Object
Dictionary
Index
Subindex
Dat
a
PDO
-
Rx
(Receive)
PDO
-
Tx
(T
ransmit)
PDO-Pool
(Rx)
(Pre)definition
of
mapping
PDO-Pool
(Tx)
(Pre)definition
of
mapping
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Fixed
dat
a
Free
mapping
Free
mapping
Free
mapping
Free
mapping
No
1
No
1
No
2
No
2
No
3
No
3
No
4
No
4
No
5
No
5
No
37
No
37
No
40
No
40
Mask
0x2014
Mask
0x2014-17
0x2A00=No37||No40
0x2600=No37||No40
0x1A00
0x1600
0x1A03
0x1603
0x2A01=No37||No40
0x2601=No37||No40
0x2A00
No37&No40
¹
0x2600
No37&No40
¹
0x2A01
No37&No40
¹
0x2601
No37&No40
¹
O
bj
ec
t 0
x2
6
0
1
N
o
=
1
..
.4
0
Handling
CANopen
Process
dat
a
object
s
(PDO)
O
bj
ec
t 0
x2
A
00
N
o=
1.
..4
0
O
bj
ec
t0
x2
A
01
N
o=
1.
..4
0
Dat
a channel
configuration
Dat
a channel
configurationl
Dat
achannel
configuration
Dat
achannel
configuration
Dat
a
configuration
Dat
a
configuration