Schutzvermerk nach DIN 34 beachten CANopen: Process data objects (PDO)
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Schutzvermerk nach DIN 34 beachten CANopen: Process data objects (PDO)
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Transcript of Schutzvermerk nach DIN 34 beachten CANopen: Process data objects (PDO)
Sch
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CANopen: Process data objects (PDO)
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COB-ID ProcessData
ProcessDataObject
What is a PDO?
Temperature sensor
COB-IDData1-2047 0 8Up to max.
123425
1234
25°C
Press-ure
Time Velocity etc.
Transmit-PDO
DataReceive-PDO
COB= CommunicationOBject Identifier
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The COB-ID (Communication Objekt Identifier)
The COB-ID serves the addressing and prioritizing of the PDOs !
010313029
2047 different COB-IDs=0 means 11-Bit-ID=1 means 29-Bit-ID
=0 RTR is possible with this PDO=1 RTR is not possible with this PDO
=0 PDO exists / is valid=1 PDO does not exist / is invalid
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Default-PDOs of a CANopen device according to CiA DS-401
CAN
TPDO4TPDO3TPDO2TPDO1 RPDO4RPDO3RPDO2RPDO1
DigitalBit:
0-63
Analogchannels:
0-3 4-7 8-11
Hardware-Input Hardware-Output
DigitalBit:
0-63
Analogchannels:
0-3 4-7 8-11
0-10 0/ 4-20 mA
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Predefined COB-IDs
Device ID + DefaultOffsetDefault-COB-ID: 8 Byte PDO
... Up to device 127
181 281 381 481 201 301 401 501
Send-PDOs Receive-PDOs
Device 1
182 282 382 482 202 302 402 502
Send-PDOs Receive-PDOs
Device 2
All COB-IDs in Hex!
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Exercise
Send-PDOs Receive-PDOs
Device-ID 64
?
: What are the COB-IDs of the default PDOs?
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Automatic connection of CAN devices with XControl
181
Send-PDOs
Receive-PDOs
201
......
PDOs do not own a COB-ID yet !
181 281 381 481 201 301 401 501
Send-PDOs Receive-PDOs
Device 1
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Exercise: CAN-XION-Station with 14 analog outputs
Configure a XION-Station to address 2 with 7 „XN-2AO“ modules!
• How does XSystem solve the problem, that a maximum of 12 analog outputs can be placed in the default PDOs ?
• What do you have to change, so that the data exchange will work with all analog ouput signals?
14 * 0-10V...
2
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XI/ON specific Default-PDOs
PDO5 2. Group of digital I/Os Bits 64 thru 127
COB-ID TPDO
800001C0h+Node-ID
Meaning COB-ID RPDO
80000240h+Node-ID
PDO13 4. Group of analog I/Os Channels 12-15
800001A0h+Node-ID 80000220h+Node-ID
PDO16 7. Group of analog I/Os Channels 24-27
800004A0h+Node-ID 80000520h+Node-ID
Bit 31=1 => PDOs are blocked!
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Enabling the specific XI/ON-PDOs
10COB-ID:
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Exercise: CAN-XION-Station with 14 analog outputs (Part 2)
14 * 0-10V...
2 34
Create another XI/ON station with the address 34 and one module „XN-2DO“.
• What do you notice ? • What do you have to do ?
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Each COB-ID must be unique !
13. Analog Input
PDO13 - COB-ID: 01A0 hex + 2 = 01A2 hex
1. Digital InputPDO1 - COB-ID0180 hex + 22 hex = 01A2 hex
Node-ID 2 Node-ID 34 (=22 hex)
XI/ON-specific default-PDOs could appear once more at higher node-IDs ! In that case the PDO has to be modified !
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Which COB IDs must NOT be assigned ?
All numbers in Hex !
Free 128dez COB-IDs0x80: Sync-Signal0x81-0x100: EmergencyFree 128dez COB_IDs0x181-0x580: Default-PDOs0x581-0x600: SDO-Response (580+Node-ID)0x601-0x680: SDO-Request (600+Node-ID)Free 128dez COB_IDs0x701-0x780: NodeguardFree 128dez COB_IDs0x7FF (End - 2047 Decimal)
