1. Schutzvermerk nach DIN 34 beachten CANopen: Process data objects (PDO)

2. Schutzvermerk nach DIN 34 beachten COB-IDProcessData ProcessDataObject What is a PDO? Temperature sensor COB-ID Data 1-204708 Up to max. 1234 25 1234 25°C Press- ure TimeVelocityetc. Transmit-PDO Data Receive-PDO COB= CommunicationOBject Identifier

3. Schutzvermerk nach DIN 34 beachten The COB-ID (Communication Objekt Identifier) The COB-ID serves the addressing and prioritizing of the PDOs ! 0 10 313029 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

4. Schutzvermerk nach DIN 34 beachten Default-PDOs of a CANopen device according to CiA DS-401 CAN TPDO4TPDO3TPDO2TPDO1RPDO4RPDO3RPDO2RPDO1 Digital Bit: 0-63 Analog channels: 0-34-7 8-11 Hardware-InputHardware-Output Digital Bit: 0-63 Analog channels: 0-34-7 8-11 0-10 0/ 4-20 mA

5. Schutzvermerk nach DIN 34 beachten Predefined COB-IDs Device ID + DefaultOffset Default-COB-ID: 8 Byte PDO... Up to device 127 181281381481201301401501 Send-PDOsReceive-PDOs Device 1 182282382482202302402502 Send-PDOsReceive-PDOs Device 2 All COB-IDs in Hex!

6. Schutzvermerk nach DIN 34 beachten Exercise Send-PDOsReceive-PDOs Device-ID 64 ? : What are the COB-IDs of the default PDOs?

7. Schutzvermerk nach DIN 34 beachten Automatic connection of CAN devices with XControl 181 Send- PDOs Receive- PDOs 201... PDOs do not own a COB-ID yet ! 181281381481201301401501 Send-PDOsReceive-PDOs Device 1

8. Schutzvermerk nach DIN 34 beachten 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

9. Schutzvermerk nach DIN 34 beachten 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!

10. Schutzvermerk nach DIN 34 beachten Enabling the specific XI/ON-PDOs 10 COB-ID:

11. Schutzvermerk nach DIN 34 beachten Exercise: CAN-XION-Station with 14 analog outputs (Part 2) 14 * 0-10V... 234 Create another XI/ON station with the address 34 and one module XN-2DO. What do you notice ? What do you have to do ?

12. Schutzvermerk nach DIN 34 beachten Each COB-ID must be unique ! 13. Analog Input PDO13 - COB-ID: 01A0 hex + 2 = 01A2 hex 1. Digital Input PDO1 - COB-ID 0180 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 !

13. Schutzvermerk nach DIN 34 beachten Which COB IDs must NOT be assigned ? All numbers in Hex ! Free 128dez COB-IDs 0x80:Sync-Signal 0x81-0x100:Emergency Free 128dez COB_IDs 0x181-0x580:Default-PDOs 0x581-0x600:SDO-Response (580+Node-ID) 0x601-0x680:SDO-Request (600+Node-ID) Free 128dez COB_IDs 0x701-0x780:Nodeguard Free 128dez COB_IDs 0x7FF(End - 2047 Decimal)