Tab: CANopen Local Device – PDOs

Object: CANopen Remote Device, CANopen Local Device

This dialog is available in the device editor of a CANopen Local Slave of version V3.5.6.0 or higher. It shows all PDOs and their default settings. This dialog provides a simple editor for creating and editing the objects in the object directory, which are required for the PDO behavior of the slave. Here you set the default values with which the slave wakes up. The master can reconfigure the default values at runtime.

This data is exported to an EDS file by means of the EDS export.

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.
Transmission type	acyclic – synchronous (Type 0): When a change is made, the PDO is transmitted synchronously, but not periodically. (default) cyclic – synchronous (Type 1-240): The PDO is transmitted every nth sync. synchronous – only RTR (Type 252): 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 (Type 253): Available for transmit PDOs only. The PDO is transmitted by explicit request only (Remote Transmission Request). asynchronous – manufacturer specific (Type 254): The PDO is transmitted only after specific events. Asynchronous – device profile specific (Type 255): 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.
Support inhibit time	: The slave supports an inhibit time.
Inhibit time	Default value for the inhibit time
Support event time	: The slave supports an event time.
Event time	Default value for the event time

Dialog: Select PDO Mapping

The table shows a filtered view of all "mappable" objects from the object directory.

Index	Index of the object
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.
Type	Data type of the object
Default Value	Default value 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