Tab: CANopen Device – PDOs

Object: CANopen Remote Device, CANopen Local Device

This dialog is available only in the device editor of a CANopen Slave of version V3.5.6.0 or higher. It shows all PDOs and their default settings. In this dialog, you can add new objects and delete or edit existing objects.

On the left side, there are the PDOs that the slave receives from the master. On the right side, there are the PDOs that the slave sends to the master.

Add PDO	Opens the Select PDO dialog where all available PDOs are displayed. In this dialog, you select the PDOs to be added to Receive PDOs or Transmit PDOs.
Add Mapping	Opens the Select Item from Object Directory dialog. Objects are listed there that you can add to the PDO mapping.
Edit	When a PDO is selected, the PDO Properties dialog opens. When a PDO mapping is selected, the Select Item from Object Directory dialog opens.
Delete	Deletes the selected objects from the list
Move Up	Moves the selected object upwards by one line.
Move Down	Moves the selected object downwards by one line.

Dialog: PDO Properties

COB-ID	Every PDO message must have a COB-ID (Communication Object Identifier). You can input explicit values (example: 16#201) or formulas (example: $NODEID+16#200).
RTR	Remote Transmission Request. This option is available for transmit PDOs only. : You can use an RTR frame for interrogating the PDO externally.
Inhibit time (x 100µs)	You can edit this field only if the device supports this functionality. The inhibit time is the minimum time between two messages of a specific PDO. You can use this setting for preventing PDOs from being sent too often when their values are edited. Default: "0". Possible values: 0–65535.
Transmission type	Acyclic – synchronous: When a change is made, the PDO is transmitted synchronously, but not periodically. (default) Cyclic – synchronous: The PDO is transmitted every nth sync. Synchronous – only RTR: Available for transmit PDOs only. After a synchronization message, the PDO is updated, but not transmitted. Transmission is by explicit request only (Remote Transmission Request). Asynchronous – only RTR: Available for transmit PDOs only. The PDO is updated and transmitted by explicit request only (Remote Transmission Request). Asynchronous – manufacturer specific: The PDO is transmitted only after specific events. Asynchronous – device profile: The PDO is transmitted according to the CiA device profile.
Number of syncs	For transmission type Cyclic – synchronous only. Indicate the interval for transmitting the PDOs. The value is a multiple of the Cycle period (µs) of the CANopen Manager. Default: 1. Possible values: 1–240. Example: Number of syncs = 4, Cycle Period = 1000 µs → transmission interval = 4000 µs
Event time (x 1ms)	Only for transmission types Asynchronous – manufacturer specific and Asynchronous – device profile. You can edit this field only if the device supports this functionality. Specify here the time span which should be between two transmissions of the PDO (in milliseconds). Default: "0". Possible values: 0–65535.
Processing by CANopen Manager	: Default setting : The CANopen Manager does not process the PDO any longer. It is no longer transmitted or received.

Dialog: Select Item from Object Directory

For modular slave, you have to clear the Autoconfig PDO mapping option to be able to configure the mapping manually.

The table shows all object directory entries from the EDS file of the device. For receive PDOs, CODESYS provides only the objects here with write permission (flag = w); for transmit PDOs, read permission.

Name	COB-ID of the PDO or the name of the "mapped" object as it is used in the device description and in the object directory.
Index	Index of the object
Subindex	Subindex of the object
Access type	RW: Read/Write RO: Read Only WO: Write Only RWW: Read/Write per SDO; write permission per PDO (==> RPDO, output from the master viewpoint, input from point of view of the slave). RWR: Read/Write per SDO; read permission per PDO (==> TPDO, input from the master viewpoint, output from the point of view of the slave). CONST=constant
Type	Data type of the object
Default Value	Default value of the object
Bit length	Length of the object