Pilz PNOZ m B0 - Manual (Page 22)

Fieldbus Modules
Operating Manual PNOZmulti 2 Communication Interfaces
1002971­EN­02 22
4.3 PNOZ m ES CANopen
4.3.1 Service Data Objects (SDOs)
All the relevant device parameters and current process data of the PNOZmulti 2 are
entered in the object directory of the CANopen. These can be read and written via Service
Data Objects (SDOs).
To enable the fieldbus module to be incorporated easily within a CANopen network, the ob­
ject directory is available as an EDS file (see
Object directory, Service Data Objects
(SDOs) [ 124] .
4.3.2 Process Data Objects (PDOs)
The output data is stored as follows:
Byte
Object Index
(hex)
Sub Index
(hex)
PDO COB­ID
0 2000 1 TPDO 1 180h
+ node address 1 2000 2
2 2000 3
3 2000 4
4 2000 5
5 2000 6
6 2000 7
7 2000 8
8 2000 9 TPDO 2 280h
+ node address 9 2000 A
10 2000 B
11 2000 C
12 2000 D
13 2000 E
14 2000 F
15 2000 10
16 2000 11 TPDO 3 380h
+ node address 17 2000 12
18 2000 13
19 2000 14
20 2000 15
21 2000 16
22 2000 17
23 2000 18