Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 52)

5-10 Using I/O Messaging
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Receive PDO Mapping The Receive PDOs have a default mapping as shown in Table 5.G . The
mapping can be changed if desired. Since every PDO can contain up to
eight bytes of data, it is possible to map, for example, Datalink A1, A2, C1,
and C2 to the same PDO number when using a drive with 16-bit Datalinks.
Table 5.G Default Receive PDO Mapping
Table 5.H PDO Transmission Types
TPDO # Default Mapping Enabled Remap Initial Transmission Type
(1)
(1) Table 5.H shows the transmission types for the PDO. For RPDOs, only the transmission is important
(synchronous or asynchronous).
1 Product Logic Command (0x2200)
+Reference 16-bit (0x2202) Yes No 254 (Asynchronous)
2 Datalink A1 In 16-bit (0x2206)
+Datalink A2 In 16-bit (0x2208) No Yes 254
3 Datalink B1 In 16-bit (0x220A)
+Datalink B2 In 16-bit (0x220C) No Yes 254
4 Datalink C1 In 16-bit (0x220E)
+Datalink C2 Out 16-bit (0x2210) No Yes 254
5 Datalink D1 In 16-bit (0x2212)
+Datalink D2 In 16-bit (0x2214) No Yes 254
TIP: If a 32-bit drive parameter is mapped to a Datalink pair, it is not
recommended to map part of the pair (that is, A1 or A2) to two different
PDOs since this can give data inconsistency.
Transmission
Type
(1)
(1) Transmission type 255 is not used in this application.
PDO Transmission
Cyclic Acyclic Synchronous Asynchronous RTR Only
0 ✓ ✓
1…240 ✓ ✓
241…251 Reserved
252 ✓ ✓
253 ✓ ✓
254 ✓
255 ✓