Exchanges Using PDOs
(Original Document)
About us
At a Glance
PDOs use topologic addresses (%I, %IW, %Q, %QW) and internal variables (%M or %MW).
There is an equivalence between topologic addresses and internal variables. For example, in the figure above, the topologic address %IW\3.1\0.0.0.16 is equivalent to %MW16 for the PDO 1.
A PDO can be enabled or disabled.
According with the EDS file, some PDOs are already mapped.
A double click on the transmission type column displays the following window:
This window allows to configure:
NOTE: PDOs can only be configured using Control Expert.
Structure of Topologic Address
The topologic address of input/output objects of a CANopen bus slave is structured in the following way:
Family
Element
Values
Meaning
Symbol
%
-
Indicates an IEC object.
Object type
I
-
Input object.
Q
-
Output object.
Format (size)
X
8 bits (Ebool)
Ebool type Boolean
(not compulsory).
W
16 bits
16 bit WORD-type word.
D
32 Bit
32 bit DINT-type word.
F
32 Bit
32 bit REAL-type word.
Module/channel address and connection point
b
3 to 999
Bus number.
e
1 to 63
Connection point number (CANopen slave number).
Rack number
r
0
Virtual rack number, always 0.
Module number
m
0
Virtual module number, always 0.
Channel number
c
Equal to 0 for all devices except the FTBs (channels numbered 0 to 7, then from 10 to 17).
Channel number.
Rank of data in the channel
d
0...999
Data number of slave.
This number can vary from 0 to 999 because a slave can only have a maximum of 1000 input and output words.
Example of Topologic Addressing
Example of topologic addressing of an item connected to point 4 of the CANopen bus number 3:
Module digital/TOR autonomous with Boolean vision
%I\3.4\0.0.5
Boolean value is entered on channel 5
(rang 0 omitted).
Module digital standard
%IW\3.4\0.0.0.2.5
Boolean value is entered on unique channel 0, rank 2, bit 5.
The mapping is given when the DCF file is imported.
Digital module on an Advantys STB island
%IW\3.4\0.0.0.3.2
Word 3, bit 2, data by Advantys Configuration Software.
Numbering starts at:
NOTE: Virtual objects (racks, modules) always have a rank number equal to 0.
Object addressing of CANopen digital input/output follows the same rules as object addressing of digital input/output on rack: words, double words and floating words are in the same block.
Example: device at connection point 4 of CANopen bus 3, on channel 0, with:
Type of data
Topologic address:
2 input words
%IW \3.4\0.0.0.0 or %IW \3.4\0.0.0.1
1 double input word
%ID \3.4\0.0.0.2
1 floating input
%IF \3.4\0.0.0.4
1 output word
%QW\3.4\0.0.0.6
An object can be mapped in a PDO only once. If the same object is mapped several times in the same PDO, Control Expert displays a message.
If there’s several PDOs with the same mapped object, only one PDO can be enabled. If several PDOs with the same mapped object are enabled, Control Expert displays a message when the application is rebuilt.
Example with a Lexium 05: